diff --git a/ROS - Indigo/action_controller/CMakeLists.txt b/ROS - Indigo/action_controller/CMakeLists.txt new file mode 100644 index 0000000..11f793c --- /dev/null +++ b/ROS - Indigo/action_controller/CMakeLists.txt @@ -0,0 +1,62 @@ +cmake_minimum_required(VERSION 2.8.3) +project(action_controller) + +if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE) + set(CMAKE_BUILD_TYPE Release) +endif() + +find_package(Boost REQUIRED thread) + +include_directories(SYSTEM "msg_gen/cpp/include") + +find_package(catkin REQUIRED COMPONENTS + moveit_core + pluginlib + actionlib + roscpp + trajectory_msgs + actionlib_msgs + std_msgs + message_generation +) + +include_directories(${catkin_INCLUDE_DIRS}) +link_directories(${catkin_LIBRARY_DIRS}) + +add_message_files( + FILES + MultiDofFollowJointTrajectoryFeedback.msg + MultiDofFollowJointTrajectoryGoal.msg + MultiDofFollowJointTrajectoryResult.msg + MultiDofFollowJointTrajectoryActionFeedback.msg + MultiDofFollowJointTrajectoryActionGoal.msg + MultiDofFollowJointTrajectoryActionResult.msg + MultiDofFollowJointTrajectoryAction.msg +) + +generate_messages( + DEPENDENCIES + std_msgs + trajectory_msgs + actionlib_msgs + action_controller +) + +catkin_package( + LIBRARIES + INCLUDE_DIRS + DEPENDS + CATKIN_DEPENDS message_runtime + moveit_core +) + +include_directories(include) + +# add_library(action_controller src/actionController.cpp) +add_executable(action_controller src/actionController.cpp) +target_link_libraries(action_controller ${catkin_LIBRARIES} ${CMAKE_THREAD_LIBS_INIT}) + + +#install(TARGETS action_controller LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) + + diff --git a/ROS - Indigo/action_controller/README.txt b/ROS - Indigo/action_controller/README.txt new file mode 100644 index 0000000..92dd84e --- /dev/null +++ b/ROS - Indigo/action_controller/README.txt @@ -0,0 +1 @@ +Simple action controller to translate the trajectory produced from moveit plugin in cmd_vel for the hector quadrotor contreller. It interface itself with moveit plugin using a costum defined action: MultiDofFollowJointTrajectory.action diff --git a/ROS - Indigo/action_controller/action/MultiDofFollowJointTrajectory.action b/ROS - Indigo/action_controller/action/MultiDofFollowJointTrajectory.action new file mode 100644 index 0000000..7edaada --- /dev/null +++ b/ROS - Indigo/action_controller/action/MultiDofFollowJointTrajectory.action @@ -0,0 +1,17 @@ +# The joint trajectory to follow +moveit_msgs/MultiDOFJointTrajectory trajectory +--- +int32 error_code +int32 SUCCESSFUL = 0 +int32 INVALID_GOAL = -1 +int32 INVALID_JOINTS = -2 +int32 OLD_HEADER_TIMESTAMP = -3 +int32 PATH_TOLERANCE_VIOLATED = -4 +int32 GOAL_TOLERANCE_VIOLATED = -5 + +--- +Header header +string[] joint_names +moveit_msgs/MultiDOFJointTrajectoryPoint desired +moveit_msgs/MultiDOFJointTrajectoryPoint actual +moveit_msgs/MultiDOFJointTrajectoryPoint error diff --git a/ROS - Indigo/action_controller/mainpage.dox b/ROS - Indigo/action_controller/mainpage.dox new file mode 100644 index 0000000..a97e401 --- /dev/null +++ b/ROS - Indigo/action_controller/mainpage.dox @@ -0,0 +1,14 @@ +/** +\mainpage +\htmlinclude manifest.html + +\b action_controller + + + +--> + + +*/ diff --git a/ROS - Indigo/action_controller/msg/MultiDofFollowJointTrajectoryAction.msg b/ROS - Indigo/action_controller/msg/MultiDofFollowJointTrajectoryAction.msg new file mode 100644 index 0000000..1721993 --- /dev/null +++ b/ROS - Indigo/action_controller/msg/MultiDofFollowJointTrajectoryAction.msg @@ -0,0 +1,5 @@ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== + +MultiDofFollowJointTrajectoryActionGoal action_goal +MultiDofFollowJointTrajectoryActionResult action_result +MultiDofFollowJointTrajectoryActionFeedback action_feedback diff --git a/ROS - Indigo/action_controller/msg/MultiDofFollowJointTrajectoryActionFeedback.msg b/ROS - Indigo/action_controller/msg/MultiDofFollowJointTrajectoryActionFeedback.msg new file mode 100644 index 0000000..30634dd --- /dev/null +++ b/ROS - Indigo/action_controller/msg/MultiDofFollowJointTrajectoryActionFeedback.msg @@ -0,0 +1,5 @@ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== + +Header header +actionlib_msgs/GoalStatus status +MultiDofFollowJointTrajectoryFeedback feedback diff --git a/ROS - Indigo/action_controller/msg/MultiDofFollowJointTrajectoryActionGoal.msg b/ROS - Indigo/action_controller/msg/MultiDofFollowJointTrajectoryActionGoal.msg new file mode 100644 index 0000000..f1243b6 --- /dev/null +++ b/ROS - Indigo/action_controller/msg/MultiDofFollowJointTrajectoryActionGoal.msg @@ -0,0 +1,5 @@ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== + +Header header +actionlib_msgs/GoalID goal_id +MultiDofFollowJointTrajectoryGoal goal diff --git a/ROS - Indigo/action_controller/msg/MultiDofFollowJointTrajectoryActionResult.msg b/ROS - Indigo/action_controller/msg/MultiDofFollowJointTrajectoryActionResult.msg new file mode 100644 index 0000000..790fa42 --- /dev/null +++ b/ROS - Indigo/action_controller/msg/MultiDofFollowJointTrajectoryActionResult.msg @@ -0,0 +1,5 @@ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== + +Header header +actionlib_msgs/GoalStatus status +MultiDofFollowJointTrajectoryResult result diff --git a/ROS - Indigo/action_controller/msg/MultiDofFollowJointTrajectoryFeedback.msg b/ROS - Indigo/action_controller/msg/MultiDofFollowJointTrajectoryFeedback.msg new file mode 100644 index 0000000..08a52b1 --- /dev/null +++ b/ROS - Indigo/action_controller/msg/MultiDofFollowJointTrajectoryFeedback.msg @@ -0,0 +1,7 @@ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== +Header header +string[] joint_names +trajectory_msgs/MultiDOFJointTrajectoryPoint desired +trajectory_msgs/MultiDOFJointTrajectoryPoint actual +trajectory_msgs/MultiDOFJointTrajectoryPoint error + diff --git a/ROS - Indigo/action_controller/msg/MultiDofFollowJointTrajectoryGoal.msg b/ROS - Indigo/action_controller/msg/MultiDofFollowJointTrajectoryGoal.msg new file mode 100644 index 0000000..d03f03b --- /dev/null +++ b/ROS - Indigo/action_controller/msg/MultiDofFollowJointTrajectoryGoal.msg @@ -0,0 +1,3 @@ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== +# The joint trajectory to follow +trajectory_msgs/MultiDOFJointTrajectory trajectory diff --git a/ROS - Indigo/action_controller/msg/MultiDofFollowJointTrajectoryResult.msg b/ROS - Indigo/action_controller/msg/MultiDofFollowJointTrajectoryResult.msg new file mode 100644 index 0000000..6f81a51 --- /dev/null +++ b/ROS - Indigo/action_controller/msg/MultiDofFollowJointTrajectoryResult.msg @@ -0,0 +1,9 @@ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== +int32 error_code +int32 SUCCESSFUL = 0 +int32 INVALID_GOAL = -1 +int32 INVALID_JOINTS = -2 +int32 OLD_HEADER_TIMESTAMP = -3 +int32 PATH_TOLERANCE_VIOLATED = -4 +int32 GOAL_TOLERANCE_VIOLATED = -5 + diff --git a/ROS - Indigo/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryAction.h b/ROS - Indigo/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryAction.h new file mode 100644 index 0000000..2603417 --- /dev/null +++ b/ROS - Indigo/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryAction.h @@ -0,0 +1,308 @@ +/* Auto-generated by genmsg_cpp for file /home/alessio/RosWorkspace/sandbox/action_controller/msg/MultiDofFollowJointTrajectoryAction.msg */ +#ifndef ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYACTION_H +#define ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYACTION_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "action_controller/MultiDofFollowJointTrajectoryActionGoal.h" +#include "action_controller/MultiDofFollowJointTrajectoryActionResult.h" +#include "action_controller/MultiDofFollowJointTrajectoryActionFeedback.h" + +namespace action_controller +{ +template +struct MultiDofFollowJointTrajectoryAction_ { + typedef MultiDofFollowJointTrajectoryAction_ Type; + + MultiDofFollowJointTrajectoryAction_() + : action_goal() + , action_result() + , action_feedback() + { + } + + MultiDofFollowJointTrajectoryAction_(const ContainerAllocator& _alloc) + : action_goal(_alloc) + , action_result(_alloc) + , action_feedback(_alloc) + { + } + + typedef ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ _action_goal_type; + ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ action_goal; + + typedef ::action_controller::MultiDofFollowJointTrajectoryActionResult_ _action_result_type; + ::action_controller::MultiDofFollowJointTrajectoryActionResult_ action_result; + + typedef ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ _action_feedback_type; + ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ action_feedback; + + + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryAction_ > Ptr; + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryAction_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct MultiDofFollowJointTrajectoryAction +typedef ::action_controller::MultiDofFollowJointTrajectoryAction_ > MultiDofFollowJointTrajectoryAction; + +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryAction> MultiDofFollowJointTrajectoryActionPtr; +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryAction const> MultiDofFollowJointTrajectoryActionConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::action_controller::MultiDofFollowJointTrajectoryAction_ & v) +{ + ros::message_operations::Printer< ::action_controller::MultiDofFollowJointTrajectoryAction_ >::stream(s, "", v); + return s;} + +} // namespace action_controller + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryAction_ > : public TrueType {}; +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryAction_ const> : public TrueType {}; +template +struct MD5Sum< ::action_controller::MultiDofFollowJointTrajectoryAction_ > { + static const char* value() + { + return "b718ef3648f19dfc8236babeb519eea6"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryAction_ &) { return value(); } + static const uint64_t static_value1 = 0xb718ef3648f19dfcULL; + static const uint64_t static_value2 = 0x8236babeb519eea6ULL; +}; + +template +struct DataType< ::action_controller::MultiDofFollowJointTrajectoryAction_ > { + static const char* value() + { + return "action_controller/MultiDofFollowJointTrajectoryAction"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryAction_ &) { return value(); } +}; + +template +struct Definition< ::action_controller::MultiDofFollowJointTrajectoryAction_ > { + static const char* value() + { + return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +\n\ +MultiDofFollowJointTrajectoryActionGoal action_goal\n\ +MultiDofFollowJointTrajectoryActionResult action_result\n\ +MultiDofFollowJointTrajectoryActionFeedback action_feedback\n\ +\n\ +================================================================================\n\ +MSG: action_controller/MultiDofFollowJointTrajectoryActionGoal\n\ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +\n\ +Header header\n\ +actionlib_msgs/GoalID goal_id\n\ +MultiDofFollowJointTrajectoryGoal goal\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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: actionlib_msgs/GoalID\n\ +# The stamp should store the time at which this goal was requested.\n\ +# It is used by an action server when it tries to preempt all\n\ +# goals that were requested before a certain time\n\ +time stamp\n\ +\n\ +# The id provides a way to associate feedback and\n\ +# result message with specific goal requests. The id\n\ +# specified must be unique.\n\ +string id\n\ +\n\ +\n\ +================================================================================\n\ +MSG: action_controller/MultiDofFollowJointTrajectoryGoal\n\ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +# The joint trajectory to follow\n\ +moveit_msgs/MultiDOFJointTrajectory trajectory\n\ +\n\ +================================================================================\n\ +MSG: moveit_msgs/MultiDOFJointTrajectory\n\ +# The header is used to specify the reference time for the trajectory durations\n\ +Header header\n\ +\n\ +#A representation of a multi-dof joint trajectory\n\ +string[] joint_names\n\ +MultiDOFJointTrajectoryPoint[] points\n\ +\n\ +================================================================================\n\ +MSG: moveit_msgs/MultiDOFJointTrajectoryPoint\n\ +geometry_msgs/Transform[] transforms\n\ +duration time_from_start\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Transform\n\ +# This represents the transform between two coordinate frames in free space.\n\ +\n\ +Vector3 translation\n\ +Quaternion rotation\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Vector3\n\ +# This represents a vector in free space. \n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +================================================================================\n\ +MSG: geometry_msgs/Quaternion\n\ +# This represents an orientation in free space in quaternion form.\n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +float64 w\n\ +\n\ +================================================================================\n\ +MSG: action_controller/MultiDofFollowJointTrajectoryActionResult\n\ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +\n\ +Header header\n\ +actionlib_msgs/GoalStatus status\n\ +MultiDofFollowJointTrajectoryResult result\n\ +\n\ +================================================================================\n\ +MSG: actionlib_msgs/GoalStatus\n\ +GoalID goal_id\n\ +uint8 status\n\ +uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\ +uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\ +uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\ + # and has since completed its execution (Terminal State)\n\ +uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\ +uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\ + # to some failure (Terminal State)\n\ +uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\ + # because the goal was unattainable or invalid (Terminal State)\n\ +uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\ + # and has not yet completed execution\n\ +uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\ + # but the action server has not yet confirmed that the goal is canceled\n\ +uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\ + # and was successfully cancelled (Terminal State)\n\ +uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\ + # sent over the wire by an action server\n\ +\n\ +#Allow for the user to associate a string with GoalStatus for debugging\n\ +string text\n\ +\n\ +\n\ +================================================================================\n\ +MSG: action_controller/MultiDofFollowJointTrajectoryResult\n\ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +int32 error_code\n\ +int32 SUCCESSFUL = 0\n\ +int32 INVALID_GOAL = -1\n\ +int32 INVALID_JOINTS = -2\n\ +int32 OLD_HEADER_TIMESTAMP = -3\n\ +int32 PATH_TOLERANCE_VIOLATED = -4\n\ +int32 GOAL_TOLERANCE_VIOLATED = -5\n\ +\n\ +\n\ +================================================================================\n\ +MSG: action_controller/MultiDofFollowJointTrajectoryActionFeedback\n\ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +\n\ +Header header\n\ +actionlib_msgs/GoalStatus status\n\ +MultiDofFollowJointTrajectoryFeedback feedback\n\ +\n\ +================================================================================\n\ +MSG: action_controller/MultiDofFollowJointTrajectoryFeedback\n\ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +Header header\n\ +string[] joint_names\n\ +moveit_msgs/MultiDOFJointTrajectoryPoint desired\n\ +moveit_msgs/MultiDOFJointTrajectoryPoint actual\n\ +moveit_msgs/MultiDOFJointTrajectoryPoint error\n\ +\n\ +\n\ +"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryAction_ &) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::action_controller::MultiDofFollowJointTrajectoryAction_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.action_goal); + stream.next(m.action_result); + stream.next(m.action_feedback); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct MultiDofFollowJointTrajectoryAction_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::action_controller::MultiDofFollowJointTrajectoryAction_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::action_controller::MultiDofFollowJointTrajectoryAction_ & v) + { + s << indent << "action_goal: "; +s << std::endl; + Printer< ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ >::stream(s, indent + " ", v.action_goal); + s << indent << "action_result: "; +s << std::endl; + Printer< ::action_controller::MultiDofFollowJointTrajectoryActionResult_ >::stream(s, indent + " ", v.action_result); + s << indent << "action_feedback: "; +s << std::endl; + Printer< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ >::stream(s, indent + " ", v.action_feedback); + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYACTION_H + diff --git a/ROS - Indigo/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryActionFeedback.h b/ROS - Indigo/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryActionFeedback.h new file mode 100644 index 0000000..9c793b1 --- /dev/null +++ b/ROS - Indigo/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryActionFeedback.h @@ -0,0 +1,259 @@ +/* Auto-generated by genmsg_cpp for file /home/alessio/RosWorkspace/sandbox/action_controller/msg/MultiDofFollowJointTrajectoryActionFeedback.msg */ +#ifndef ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYACTIONFEEDBACK_H +#define ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYACTIONFEEDBACK_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" +#include "actionlib_msgs/GoalStatus.h" +#include "action_controller/MultiDofFollowJointTrajectoryFeedback.h" + +namespace action_controller +{ +template +struct MultiDofFollowJointTrajectoryActionFeedback_ { + typedef MultiDofFollowJointTrajectoryActionFeedback_ Type; + + MultiDofFollowJointTrajectoryActionFeedback_() + : header() + , status() + , feedback() + { + } + + MultiDofFollowJointTrajectoryActionFeedback_(const ContainerAllocator& _alloc) + : header(_alloc) + , status(_alloc) + , feedback(_alloc) + { + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef ::actionlib_msgs::GoalStatus_ _status_type; + ::actionlib_msgs::GoalStatus_ status; + + typedef ::action_controller::MultiDofFollowJointTrajectoryFeedback_ _feedback_type; + ::action_controller::MultiDofFollowJointTrajectoryFeedback_ feedback; + + + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ > Ptr; + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct MultiDofFollowJointTrajectoryActionFeedback +typedef ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ > MultiDofFollowJointTrajectoryActionFeedback; + +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback> MultiDofFollowJointTrajectoryActionFeedbackPtr; +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback const> MultiDofFollowJointTrajectoryActionFeedbackConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ & v) +{ + ros::message_operations::Printer< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ >::stream(s, "", v); + return s;} + +} // namespace action_controller + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ > : public TrueType {}; +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ const> : public TrueType {}; +template +struct MD5Sum< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ > { + static const char* value() + { + return "bb90301ebf9ac17d9c3bcafa7a141cba"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ &) { return value(); } + static const uint64_t static_value1 = 0xbb90301ebf9ac17dULL; + static const uint64_t static_value2 = 0x9c3bcafa7a141cbaULL; +}; + +template +struct DataType< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ > { + static const char* value() + { + return "action_controller/MultiDofFollowJointTrajectoryActionFeedback"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ &) { return value(); } +}; + +template +struct Definition< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ > { + static const char* value() + { + return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +\n\ +Header header\n\ +actionlib_msgs/GoalStatus status\n\ +MultiDofFollowJointTrajectoryFeedback feedback\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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: actionlib_msgs/GoalStatus\n\ +GoalID goal_id\n\ +uint8 status\n\ +uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\ +uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\ +uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\ + # and has since completed its execution (Terminal State)\n\ +uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\ +uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\ + # to some failure (Terminal State)\n\ +uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\ + # because the goal was unattainable or invalid (Terminal State)\n\ +uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\ + # and has not yet completed execution\n\ +uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\ + # but the action server has not yet confirmed that the goal is canceled\n\ +uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\ + # and was successfully cancelled (Terminal State)\n\ +uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\ + # sent over the wire by an action server\n\ +\n\ +#Allow for the user to associate a string with GoalStatus for debugging\n\ +string text\n\ +\n\ +\n\ +================================================================================\n\ +MSG: actionlib_msgs/GoalID\n\ +# The stamp should store the time at which this goal was requested.\n\ +# It is used by an action server when it tries to preempt all\n\ +# goals that were requested before a certain time\n\ +time stamp\n\ +\n\ +# The id provides a way to associate feedback and\n\ +# result message with specific goal requests. The id\n\ +# specified must be unique.\n\ +string id\n\ +\n\ +\n\ +================================================================================\n\ +MSG: action_controller/MultiDofFollowJointTrajectoryFeedback\n\ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +Header header\n\ +string[] joint_names\n\ +moveit_msgs/MultiDOFJointTrajectoryPoint desired\n\ +moveit_msgs/MultiDOFJointTrajectoryPoint actual\n\ +moveit_msgs/MultiDOFJointTrajectoryPoint error\n\ +\n\ +\n\ +================================================================================\n\ +MSG: moveit_msgs/MultiDOFJointTrajectoryPoint\n\ +geometry_msgs/Transform[] transforms\n\ +duration time_from_start\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Transform\n\ +# This represents the transform between two coordinate frames in free space.\n\ +\n\ +Vector3 translation\n\ +Quaternion rotation\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Vector3\n\ +# This represents a vector in free space. \n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +================================================================================\n\ +MSG: geometry_msgs/Quaternion\n\ +# This represents an orientation in free space in quaternion form.\n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +float64 w\n\ +\n\ +"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ &) { return value(); } +}; + +template struct HasHeader< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ > : public TrueType {}; +template struct HasHeader< const ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.status); + stream.next(m.feedback); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct MultiDofFollowJointTrajectoryActionFeedback_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ & v) + { + s << indent << "header: "; +s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "status: "; +s << std::endl; + Printer< ::actionlib_msgs::GoalStatus_ >::stream(s, indent + " ", v.status); + s << indent << "feedback: "; +s << std::endl; + Printer< ::action_controller::MultiDofFollowJointTrajectoryFeedback_ >::stream(s, indent + " ", v.feedback); + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYACTIONFEEDBACK_H + diff --git a/ROS - Indigo/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryActionGoal.h b/ROS - Indigo/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryActionGoal.h new file mode 100644 index 0000000..6aff562 --- /dev/null +++ b/ROS - Indigo/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryActionGoal.h @@ -0,0 +1,238 @@ +/* Auto-generated by genmsg_cpp for file /home/alessio/RosWorkspace/sandbox/action_controller/msg/MultiDofFollowJointTrajectoryActionGoal.msg */ +#ifndef ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYACTIONGOAL_H +#define ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYACTIONGOAL_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" +#include "actionlib_msgs/GoalID.h" +#include "action_controller/MultiDofFollowJointTrajectoryGoal.h" + +namespace action_controller +{ +template +struct MultiDofFollowJointTrajectoryActionGoal_ { + typedef MultiDofFollowJointTrajectoryActionGoal_ Type; + + MultiDofFollowJointTrajectoryActionGoal_() + : header() + , goal_id() + , goal() + { + } + + MultiDofFollowJointTrajectoryActionGoal_(const ContainerAllocator& _alloc) + : header(_alloc) + , goal_id(_alloc) + , goal(_alloc) + { + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef ::actionlib_msgs::GoalID_ _goal_id_type; + ::actionlib_msgs::GoalID_ goal_id; + + typedef ::action_controller::MultiDofFollowJointTrajectoryGoal_ _goal_type; + ::action_controller::MultiDofFollowJointTrajectoryGoal_ goal; + + + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ > Ptr; + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct MultiDofFollowJointTrajectoryActionGoal +typedef ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ > MultiDofFollowJointTrajectoryActionGoal; + +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryActionGoal> MultiDofFollowJointTrajectoryActionGoalPtr; +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryActionGoal const> MultiDofFollowJointTrajectoryActionGoalConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ & v) +{ + ros::message_operations::Printer< ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ >::stream(s, "", v); + return s;} + +} // namespace action_controller + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ > : public TrueType {}; +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ const> : public TrueType {}; +template +struct MD5Sum< ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ > { + static const char* value() + { + return "1292bbe002476592a0f3166376533ba1"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ &) { return value(); } + static const uint64_t static_value1 = 0x1292bbe002476592ULL; + static const uint64_t static_value2 = 0xa0f3166376533ba1ULL; +}; + +template +struct DataType< ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ > { + static const char* value() + { + return "action_controller/MultiDofFollowJointTrajectoryActionGoal"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ &) { return value(); } +}; + +template +struct Definition< ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ > { + static const char* value() + { + return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +\n\ +Header header\n\ +actionlib_msgs/GoalID goal_id\n\ +MultiDofFollowJointTrajectoryGoal goal\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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: actionlib_msgs/GoalID\n\ +# The stamp should store the time at which this goal was requested.\n\ +# It is used by an action server when it tries to preempt all\n\ +# goals that were requested before a certain time\n\ +time stamp\n\ +\n\ +# The id provides a way to associate feedback and\n\ +# result message with specific goal requests. The id\n\ +# specified must be unique.\n\ +string id\n\ +\n\ +\n\ +================================================================================\n\ +MSG: action_controller/MultiDofFollowJointTrajectoryGoal\n\ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +# The joint trajectory to follow\n\ +moveit_msgs/MultiDOFJointTrajectory trajectory\n\ +\n\ +================================================================================\n\ +MSG: moveit_msgs/MultiDOFJointTrajectory\n\ +# The header is used to specify the reference time for the trajectory durations\n\ +Header header\n\ +\n\ +#A representation of a multi-dof joint trajectory\n\ +string[] joint_names\n\ +MultiDOFJointTrajectoryPoint[] points\n\ +\n\ +================================================================================\n\ +MSG: moveit_msgs/MultiDOFJointTrajectoryPoint\n\ +geometry_msgs/Transform[] transforms\n\ +duration time_from_start\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Transform\n\ +# This represents the transform between two coordinate frames in free space.\n\ +\n\ +Vector3 translation\n\ +Quaternion rotation\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Vector3\n\ +# This represents a vector in free space. \n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +================================================================================\n\ +MSG: geometry_msgs/Quaternion\n\ +# This represents an orientation in free space in quaternion form.\n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +float64 w\n\ +\n\ +"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ &) { return value(); } +}; + +template struct HasHeader< ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ > : public TrueType {}; +template struct HasHeader< const ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.goal_id); + stream.next(m.goal); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct MultiDofFollowJointTrajectoryActionGoal_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ & v) + { + s << indent << "header: "; +s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "goal_id: "; +s << std::endl; + Printer< ::actionlib_msgs::GoalID_ >::stream(s, indent + " ", v.goal_id); + s << indent << "goal: "; +s << std::endl; + Printer< ::action_controller::MultiDofFollowJointTrajectoryGoal_ >::stream(s, indent + " ", v.goal); + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYACTIONGOAL_H + diff --git a/ROS - Indigo/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryActionResult.h b/ROS - Indigo/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryActionResult.h new file mode 100644 index 0000000..96ff8c1 --- /dev/null +++ b/ROS - Indigo/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryActionResult.h @@ -0,0 +1,233 @@ +/* Auto-generated by genmsg_cpp for file /home/alessio/RosWorkspace/sandbox/action_controller/msg/MultiDofFollowJointTrajectoryActionResult.msg */ +#ifndef ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYACTIONRESULT_H +#define ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYACTIONRESULT_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" +#include "actionlib_msgs/GoalStatus.h" +#include "action_controller/MultiDofFollowJointTrajectoryResult.h" + +namespace action_controller +{ +template +struct MultiDofFollowJointTrajectoryActionResult_ { + typedef MultiDofFollowJointTrajectoryActionResult_ Type; + + MultiDofFollowJointTrajectoryActionResult_() + : header() + , status() + , result() + { + } + + MultiDofFollowJointTrajectoryActionResult_(const ContainerAllocator& _alloc) + : header(_alloc) + , status(_alloc) + , result(_alloc) + { + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef ::actionlib_msgs::GoalStatus_ _status_type; + ::actionlib_msgs::GoalStatus_ status; + + typedef ::action_controller::MultiDofFollowJointTrajectoryResult_ _result_type; + ::action_controller::MultiDofFollowJointTrajectoryResult_ result; + + + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryActionResult_ > Ptr; + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryActionResult_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct MultiDofFollowJointTrajectoryActionResult +typedef ::action_controller::MultiDofFollowJointTrajectoryActionResult_ > MultiDofFollowJointTrajectoryActionResult; + +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryActionResult> MultiDofFollowJointTrajectoryActionResultPtr; +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryActionResult const> MultiDofFollowJointTrajectoryActionResultConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::action_controller::MultiDofFollowJointTrajectoryActionResult_ & v) +{ + ros::message_operations::Printer< ::action_controller::MultiDofFollowJointTrajectoryActionResult_ >::stream(s, "", v); + return s;} + +} // namespace action_controller + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryActionResult_ > : public TrueType {}; +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryActionResult_ const> : public TrueType {}; +template +struct MD5Sum< ::action_controller::MultiDofFollowJointTrajectoryActionResult_ > { + static const char* value() + { + return "bce83d50f7bb28226801436caf0e2043"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryActionResult_ &) { return value(); } + static const uint64_t static_value1 = 0xbce83d50f7bb2822ULL; + static const uint64_t static_value2 = 0x6801436caf0e2043ULL; +}; + +template +struct DataType< ::action_controller::MultiDofFollowJointTrajectoryActionResult_ > { + static const char* value() + { + return "action_controller/MultiDofFollowJointTrajectoryActionResult"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryActionResult_ &) { return value(); } +}; + +template +struct Definition< ::action_controller::MultiDofFollowJointTrajectoryActionResult_ > { + static const char* value() + { + return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +\n\ +Header header\n\ +actionlib_msgs/GoalStatus status\n\ +MultiDofFollowJointTrajectoryResult result\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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: actionlib_msgs/GoalStatus\n\ +GoalID goal_id\n\ +uint8 status\n\ +uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\ +uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\ +uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\ + # and has since completed its execution (Terminal State)\n\ +uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\ +uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\ + # to some failure (Terminal State)\n\ +uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\ + # because the goal was unattainable or invalid (Terminal State)\n\ +uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\ + # and has not yet completed execution\n\ +uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\ + # but the action server has not yet confirmed that the goal is canceled\n\ +uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\ + # and was successfully cancelled (Terminal State)\n\ +uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\ + # sent over the wire by an action server\n\ +\n\ +#Allow for the user to associate a string with GoalStatus for debugging\n\ +string text\n\ +\n\ +\n\ +================================================================================\n\ +MSG: actionlib_msgs/GoalID\n\ +# The stamp should store the time at which this goal was requested.\n\ +# It is used by an action server when it tries to preempt all\n\ +# goals that were requested before a certain time\n\ +time stamp\n\ +\n\ +# The id provides a way to associate feedback and\n\ +# result message with specific goal requests. The id\n\ +# specified must be unique.\n\ +string id\n\ +\n\ +\n\ +================================================================================\n\ +MSG: action_controller/MultiDofFollowJointTrajectoryResult\n\ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +int32 error_code\n\ +int32 SUCCESSFUL = 0\n\ +int32 INVALID_GOAL = -1\n\ +int32 INVALID_JOINTS = -2\n\ +int32 OLD_HEADER_TIMESTAMP = -3\n\ +int32 PATH_TOLERANCE_VIOLATED = -4\n\ +int32 GOAL_TOLERANCE_VIOLATED = -5\n\ +\n\ +\n\ +"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryActionResult_ &) { return value(); } +}; + +template struct HasHeader< ::action_controller::MultiDofFollowJointTrajectoryActionResult_ > : public TrueType {}; +template struct HasHeader< const ::action_controller::MultiDofFollowJointTrajectoryActionResult_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::action_controller::MultiDofFollowJointTrajectoryActionResult_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.status); + stream.next(m.result); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct MultiDofFollowJointTrajectoryActionResult_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::action_controller::MultiDofFollowJointTrajectoryActionResult_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::action_controller::MultiDofFollowJointTrajectoryActionResult_ & v) + { + s << indent << "header: "; +s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "status: "; +s << std::endl; + Printer< ::actionlib_msgs::GoalStatus_ >::stream(s, indent + " ", v.status); + s << indent << "result: "; +s << std::endl; + Printer< ::action_controller::MultiDofFollowJointTrajectoryResult_ >::stream(s, indent + " ", v.result); + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYACTIONRESULT_H + diff --git a/ROS - Indigo/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryFeedback.h b/ROS - Indigo/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryFeedback.h new file mode 100644 index 0000000..d78a95d --- /dev/null +++ b/ROS - Indigo/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryFeedback.h @@ -0,0 +1,232 @@ +/* Auto-generated by genmsg_cpp for file /home/alessio/RosWorkspace/sandbox/action_controller/msg/MultiDofFollowJointTrajectoryFeedback.msg */ +#ifndef ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYFEEDBACK_H +#define ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYFEEDBACK_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" +#include "trajectory_msgs/MultiDOFJointTrajectoryPoint.h" + +namespace action_controller +{ +template +struct MultiDofFollowJointTrajectoryFeedback_ { + typedef MultiDofFollowJointTrajectoryFeedback_ Type; + + MultiDofFollowJointTrajectoryFeedback_() + : header() + , joint_names() + , desired() + , actual() + , error() + { + } + + MultiDofFollowJointTrajectoryFeedback_(const ContainerAllocator& _alloc) + : header(_alloc) + , joint_names(_alloc) + , desired(_alloc) + , actual(_alloc) + , error(_alloc) + { + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef std::vector, typename ContainerAllocator::template rebind::other > , typename ContainerAllocator::template rebind, typename ContainerAllocator::template rebind::other > >::other > _joint_names_type; + std::vector, typename ContainerAllocator::template rebind::other > , typename ContainerAllocator::template rebind, typename ContainerAllocator::template rebind::other > >::other > joint_names; + + typedef ::trajectory_msgs::MultiDOFJointTrajectoryPoint_ _desired_type; + ::trajectory_msgs::MultiDOFJointTrajectoryPoint_ desired; + + typedef ::trajectory_msgs::MultiDOFJointTrajectoryPoint_ _actual_type; + ::trajectory_msgs::MultiDOFJointTrajectoryPoint_ actual; + + typedef ::trajectory_msgs::MultiDOFJointTrajectoryPoint_ _error_type; + ::trajectory_msgs::MultiDOFJointTrajectoryPoint_ error; + + + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryFeedback_ > Ptr; + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryFeedback_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct MultiDofFollowJointTrajectoryFeedback +typedef ::action_controller::MultiDofFollowJointTrajectoryFeedback_ > MultiDofFollowJointTrajectoryFeedback; + +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryFeedback> MultiDofFollowJointTrajectoryFeedbackPtr; +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryFeedback const> MultiDofFollowJointTrajectoryFeedbackConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::action_controller::MultiDofFollowJointTrajectoryFeedback_ & v) +{ + ros::message_operations::Printer< ::action_controller::MultiDofFollowJointTrajectoryFeedback_ >::stream(s, "", v); + return s;} + +} // namespace action_controller + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryFeedback_ > : public TrueType {}; +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryFeedback_ const> : public TrueType {}; +template +struct MD5Sum< ::action_controller::MultiDofFollowJointTrajectoryFeedback_ > { + static const char* value() + { + return "4d0c4cf9e9eeebe573320d2109a20899"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryFeedback_ &) { return value(); } + static const uint64_t static_value1 = 0x4d0c4cf9e9eeebe5ULL; + static const uint64_t static_value2 = 0x73320d2109a20899ULL; +}; + +template +struct DataType< ::action_controller::MultiDofFollowJointTrajectoryFeedback_ > { + static const char* value() + { + return "action_controller/MultiDofFollowJointTrajectoryFeedback"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryFeedback_ &) { return value(); } +}; + +template +struct Definition< ::action_controller::MultiDofFollowJointTrajectoryFeedback_ > { + static const char* value() + { + return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +Header header\n\ +string[] joint_names\n\ +trajectory_msgs/MultiDOFJointTrajectoryPoint desired\n\ +trajectory_msgs/MultiDOFJointTrajectoryPoint actual\n\ +trajectory_msgs/MultiDOFJointTrajectoryPoint error\n\ +\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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: trajectory_msgs/MultiDOFJointTrajectoryPoint\n\ +geometry_msgs/Transform[] transforms\n\ +duration time_from_start\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Transform\n\ +# This represents the transform between two coordinate frames in free space.\n\ +\n\ +Vector3 translation\n\ +Quaternion rotation\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Vector3\n\ +# This represents a vector in free space. \n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +================================================================================\n\ +MSG: geometry_msgs/Quaternion\n\ +# This represents an orientation in free space in quaternion form.\n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +float64 w\n\ +\n\ +"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryFeedback_ &) { return value(); } +}; + +template struct HasHeader< ::action_controller::MultiDofFollowJointTrajectoryFeedback_ > : public TrueType {}; +template struct HasHeader< const ::action_controller::MultiDofFollowJointTrajectoryFeedback_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::action_controller::MultiDofFollowJointTrajectoryFeedback_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.joint_names); + stream.next(m.desired); + stream.next(m.actual); + stream.next(m.error); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct MultiDofFollowJointTrajectoryFeedback_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::action_controller::MultiDofFollowJointTrajectoryFeedback_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::action_controller::MultiDofFollowJointTrajectoryFeedback_ & 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 << "desired: "; +s << std::endl; + Printer< ::trajectory_msgs::MultiDOFJointTrajectoryPoint_ >::stream(s, indent + " ", v.desired); + s << indent << "actual: "; +s << std::endl; + Printer< ::trajectory_msgs::MultiDOFJointTrajectoryPoint_ >::stream(s, indent + " ", v.actual); + s << indent << "error: "; +s << std::endl; + Printer< ::trajectory_msgs::MultiDOFJointTrajectoryPoint_ >::stream(s, indent + " ", v.error); + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYFEEDBACK_H + diff --git a/ROS - Indigo/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryGoal.h b/ROS - Indigo/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryGoal.h new file mode 100644 index 0000000..cef1ae1 --- /dev/null +++ b/ROS - Indigo/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryGoal.h @@ -0,0 +1,195 @@ +/* Auto-generated by genmsg_cpp for file /home/alessio/RosWorkspace/sandbox/action_controller/msg/MultiDofFollowJointTrajectoryGoal.msg */ +#ifndef ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYGOAL_H +#define ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYGOAL_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "trajectory_msgs/MultiDOFJointTrajectory.h" + +namespace action_controller +{ +template +struct MultiDofFollowJointTrajectoryGoal_ { + typedef MultiDofFollowJointTrajectoryGoal_ Type; + + MultiDofFollowJointTrajectoryGoal_() + : trajectory() + { + } + + MultiDofFollowJointTrajectoryGoal_(const ContainerAllocator& _alloc) + : trajectory(_alloc) + { + } + + typedef ::trajectory_msgs::MultiDOFJointTrajectory_ _trajectory_type; + ::trajectory_msgs::MultiDOFJointTrajectory_ trajectory; + + + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryGoal_ > Ptr; + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryGoal_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct MultiDofFollowJointTrajectoryGoal +typedef ::action_controller::MultiDofFollowJointTrajectoryGoal_ > MultiDofFollowJointTrajectoryGoal; + +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryGoal> MultiDofFollowJointTrajectoryGoalPtr; +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryGoal const> MultiDofFollowJointTrajectoryGoalConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::action_controller::MultiDofFollowJointTrajectoryGoal_ & v) +{ + ros::message_operations::Printer< ::action_controller::MultiDofFollowJointTrajectoryGoal_ >::stream(s, "", v); + return s;} + +} // namespace action_controller + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryGoal_ > : public TrueType {}; +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryGoal_ const> : public TrueType {}; +template +struct MD5Sum< ::action_controller::MultiDofFollowJointTrajectoryGoal_ > { + static const char* value() + { + return "70ac13f44ce8dd6df296056f97e1a1fa"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryGoal_ &) { return value(); } + static const uint64_t static_value1 = 0x70ac13f44ce8dd6dULL; + static const uint64_t static_value2 = 0xf296056f97e1a1faULL; +}; + +template +struct DataType< ::action_controller::MultiDofFollowJointTrajectoryGoal_ > { + static const char* value() + { + return "action_controller/MultiDofFollowJointTrajectoryGoal"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryGoal_ &) { return value(); } +}; + +template +struct Definition< ::action_controller::MultiDofFollowJointTrajectoryGoal_ > { + static const char* value() + { + return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +# The joint trajectory to follow\n\ +trajectory_msgs/MultiDOFJointTrajectory trajectory\n\ +\n\ +================================================================================\n\ +MSG: trajectory_msgs/MultiDOFJointTrajectory\n\ +# The header is used to specify the reference time for the trajectory durations\n\ +Header header\n\ +\n\ +#A representation of a multi-dof joint trajectory\n\ +string[] joint_names\n\ +MultiDOFJointTrajectoryPoint[] points\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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: trajectory_msgs/MultiDOFJointTrajectoryPoint\n\ +geometry_msgs/Transform[] transforms\n\ +duration time_from_start\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Transform\n\ +# This represents the transform between two coordinate frames in free space.\n\ +\n\ +Vector3 translation\n\ +Quaternion rotation\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Vector3\n\ +# This represents a vector in free space. \n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +================================================================================\n\ +MSG: geometry_msgs/Quaternion\n\ +# This represents an orientation in free space in quaternion form.\n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +float64 w\n\ +\n\ +"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryGoal_ &) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::action_controller::MultiDofFollowJointTrajectoryGoal_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.trajectory); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct MultiDofFollowJointTrajectoryGoal_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::action_controller::MultiDofFollowJointTrajectoryGoal_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::action_controller::MultiDofFollowJointTrajectoryGoal_ & v) + { + s << indent << "trajectory: "; +s << std::endl; + Printer< ::trajectory_msgs::MultiDOFJointTrajectory_ >::stream(s, indent + " ", v.trajectory); + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYGOAL_H + diff --git a/ROS - Indigo/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryResult.h b/ROS - Indigo/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryResult.h new file mode 100644 index 0000000..fefd688 --- /dev/null +++ b/ROS - Indigo/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryResult.h @@ -0,0 +1,151 @@ +/* Auto-generated by genmsg_cpp for file /home/alessio/RosWorkspace/sandbox/action_controller/msg/MultiDofFollowJointTrajectoryResult.msg */ +#ifndef ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYRESULT_H +#define ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYRESULT_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + + +namespace action_controller +{ +template +struct MultiDofFollowJointTrajectoryResult_ { + typedef MultiDofFollowJointTrajectoryResult_ Type; + + MultiDofFollowJointTrajectoryResult_() + : error_code(0) + { + } + + MultiDofFollowJointTrajectoryResult_(const ContainerAllocator& _alloc) + : error_code(0) + { + } + + typedef int32_t _error_code_type; + int32_t error_code; + + enum { SUCCESSFUL = 0 }; + enum { INVALID_GOAL = -1 }; + enum { INVALID_JOINTS = -2 }; + enum { OLD_HEADER_TIMESTAMP = -3 }; + enum { PATH_TOLERANCE_VIOLATED = -4 }; + enum { GOAL_TOLERANCE_VIOLATED = -5 }; + + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryResult_ > Ptr; + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryResult_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct MultiDofFollowJointTrajectoryResult +typedef ::action_controller::MultiDofFollowJointTrajectoryResult_ > MultiDofFollowJointTrajectoryResult; + +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryResult> MultiDofFollowJointTrajectoryResultPtr; +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryResult const> MultiDofFollowJointTrajectoryResultConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::action_controller::MultiDofFollowJointTrajectoryResult_ & v) +{ + ros::message_operations::Printer< ::action_controller::MultiDofFollowJointTrajectoryResult_ >::stream(s, "", v); + return s;} + +} // namespace action_controller + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryResult_ > : public TrueType {}; +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryResult_ const> : public TrueType {}; +template +struct MD5Sum< ::action_controller::MultiDofFollowJointTrajectoryResult_ > { + static const char* value() + { + return "6243274b5d629dc838814109754410d5"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryResult_ &) { return value(); } + static const uint64_t static_value1 = 0x6243274b5d629dc8ULL; + static const uint64_t static_value2 = 0x38814109754410d5ULL; +}; + +template +struct DataType< ::action_controller::MultiDofFollowJointTrajectoryResult_ > { + static const char* value() + { + return "action_controller/MultiDofFollowJointTrajectoryResult"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryResult_ &) { return value(); } +}; + +template +struct Definition< ::action_controller::MultiDofFollowJointTrajectoryResult_ > { + static const char* value() + { + return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +int32 error_code\n\ +int32 SUCCESSFUL = 0\n\ +int32 INVALID_GOAL = -1\n\ +int32 INVALID_JOINTS = -2\n\ +int32 OLD_HEADER_TIMESTAMP = -3\n\ +int32 PATH_TOLERANCE_VIOLATED = -4\n\ +int32 GOAL_TOLERANCE_VIOLATED = -5\n\ +\n\ +\n\ +"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryResult_ &) { return value(); } +}; + +template struct IsFixedSize< ::action_controller::MultiDofFollowJointTrajectoryResult_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::action_controller::MultiDofFollowJointTrajectoryResult_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.error_code); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct MultiDofFollowJointTrajectoryResult_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::action_controller::MultiDofFollowJointTrajectoryResult_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::action_controller::MultiDofFollowJointTrajectoryResult_ & v) + { + s << indent << "error_code: "; + Printer::stream(s, indent + " ", v.error_code); + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYRESULT_H + diff --git a/ROS - Indigo/action_controller/package.xml b/ROS - Indigo/action_controller/package.xml new file mode 100644 index 0000000..54ee970 --- /dev/null +++ b/ROS - Indigo/action_controller/package.xml @@ -0,0 +1,31 @@ + + action_controller + 0.1.0 + Alessio + Alessio + + + action_controller + + + Alessio + BSD + http://ros.org/wiki/action_controller + catkin + + moveit_core + message_generation + + message_runtime + moveit_core + actionlib + roscpp + roslib + std_msgs + geometry_msgs + moveit_msgs + actionlib_msgs + + + + diff --git a/ROS - Indigo/action_controller/src/actionController.cpp b/ROS - Indigo/action_controller/src/actionController.cpp new file mode 100644 index 0000000..f006827 --- /dev/null +++ b/ROS - Indigo/action_controller/src/actionController.cpp @@ -0,0 +1,191 @@ +#include +#include +#include + +#include +#include +#include + +class Controller{ +private: + typedef actionlib::ActionServer ActionServer; + typedef ActionServer::GoalHandle GoalHandle; +public: + Controller(ros::NodeHandle &n) : + node_(n), + action_server_(node_, "multi_dof_joint_trajectory_action", + boost::bind(&Controller::goalCB, this, _1), + boost::bind(&Controller::cancelCB, this, _1), + false), + has_active_goal_(false) +{ + creato=0; + empty.linear.x=0; + empty.linear.y=0; + empty.linear.z=0; + empty.angular.z=0; + empty.angular.y=0; + empty.angular.x=0; + pub_topic = node_.advertise("cmd_vel", 1); + action_server_.start(); + ROS_INFO_STREAM("Node ready!"); +} +private: + ros::NodeHandle node_; + ActionServer action_server_; + ros::Publisher pub_topic; + geometry_msgs::Twist empty; + geometry_msgs::Transform_ > lastPosition; + geometry_msgs::Twist cmd; + pthread_t trajectoryExecutor; + int creato; + + bool has_active_goal_; + GoalHandle active_goal_; + trajectory_msgs::MultiDOFJointTrajectory_ > toExecute; + + void cancelCB(GoalHandle gh){ + if (active_goal_ == gh) + { + // Stops the controller. + if(creato){ + ROS_INFO_STREAM("Stop thread"); + pthread_cancel(trajectoryExecutor); + creato=0; + } + pub_topic.publish(empty); + + // Marks the current goal as canceled. + active_goal_.setCanceled(); + has_active_goal_ = false; + } + } + + void goalCB(GoalHandle gh){ + if (has_active_goal_) + { + // Stops the controller. + if(creato){ + pthread_cancel(trajectoryExecutor); + creato=0; + } + pub_topic.publish(empty); + + // Marks the current goal as canceled. + active_goal_.setCanceled(); + has_active_goal_ = false; + } + + gh.setAccepted(); + active_goal_ = gh; + has_active_goal_ = true; + toExecute = gh.getGoal()->trajectory; + + //controllore solo per il giunto virtuale Base + if(pthread_create(&trajectoryExecutor, NULL, threadWrapper, this)==0){ + creato=1; + ROS_INFO_STREAM("Thread for trajectory execution created"); + } else { + ROS_INFO_STREAM("Thread creation failed!"); + } + + } + + static void* threadWrapper(void* arg) { + Controller * mySelf=(Controller*)arg; + mySelf->executeTrajectory(); + return NULL; + } + + void executeTrajectory(){ + if(toExecute.joint_names[0]=="Base" && toExecute.points.size()>0){ + for(int k=0; k > punto=toExecute.points[k].transforms[0]; + bool eseguito=true; + if(k!=0){ + eseguito=publishTranslationComand(punto,false); + if(k==(toExecute.points.size()-1)){ + if(!eseguito) publishTranslationComand(punto,true); + publishRotationComand(punto,false); + } + } else { + publishRotationComand(punto,true); + } + pub_topic.publish(empty); + //aggiorno start position + if(eseguito){ + lastPosition.translation=punto.translation; + lastPosition.rotation=punto.rotation; + } + } + } + active_goal_.setSucceeded(); + has_active_goal_=false; + creato=0; + + } + bool publishTranslationComand(geometry_msgs::Transform_ > punto, bool anyway){ + //creazione comando di traslazione + cmd.linear.x=punto.translation.x-lastPosition.translation.x; + cmd.linear.y=punto.translation.y-lastPosition.translation.y; + cmd.linear.z=punto.translation.z-lastPosition.translation.z; + cmd.angular.x=cmd.angular.y=cmd.angular.z=0; + + if(anyway || cmd.linear.x>=0.5 || cmd.linear.y>=0.5 || cmd.linear.z>=0.5){ + printPositionInfo(); + printCmdInfo(); + pub_topic.publish(cmd); + //tempo d'esecuzione + ros::Duration(1.0).sleep(); + return true; + } + return false; + } + + void publishRotationComand(geometry_msgs::Transform_ > punto, bool start){ + //comando di allineamento, permesse solo rotazioni sull'asse z + cmd.linear.x=cmd.linear.y=cmd.linear.z=cmd.angular.x=cmd.angular.y=0; + //start = true --> devo tornare nell'orientazione 0 + //start = false --> devo arrivare al'orientazione punto.rotation.z + cmd.angular.z=(start?0-punto.rotation.z:punto.rotation.z); + + printCmdInfo(); + + double sleep=cmd.angular.z*3.0; //tempo necessario a tornare nella giusta orientazione + if(sleep<0) sleep=-sleep; + pub_topic.publish(cmd); + ros::Duration(sleep).sleep(); + cmd.angular.z=0; + } + + void printPositionInfo(){ + ROS_INFO_STREAM("Start Position: ["< + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS - Indigo/autonomous-quadrotor/launch/mySpawn_quadrotor_with_kinect.launch b/ROS - Indigo/autonomous-quadrotor/launch/mySpawn_quadrotor_with_kinect.launch new file mode 100644 index 0000000..ce81991 --- /dev/null +++ b/ROS - Indigo/autonomous-quadrotor/launch/mySpawn_quadrotor_with_kinect.launch @@ -0,0 +1,19 @@ + + + + + + + + + + + + + + + + + + + diff --git a/ROS - Indigo/autonomous-quadrotor/package.xml b/ROS - Indigo/autonomous-quadrotor/package.xml new file mode 100644 index 0000000..1be6a74 --- /dev/null +++ b/ROS - Indigo/autonomous-quadrotor/package.xml @@ -0,0 +1,18 @@ + + autonomous_quadrotor + 0.1.0 + Alessio + + + action_controller + + + Alessio + Wim + BSD + http://ros.org/wiki/autonomous_quadrotor + catkin + + + + diff --git a/ROS - Indigo/autonomous-quadrotor/param/quadrotor_aerodynamics.yaml b/ROS - Indigo/autonomous-quadrotor/param/quadrotor_aerodynamics.yaml new file mode 100644 index 0000000..3c4e3cf --- /dev/null +++ b/ROS - Indigo/autonomous-quadrotor/param/quadrotor_aerodynamics.yaml @@ -0,0 +1,5 @@ +quadrotor_aerodynamics: + C_wxy: 0.12 + C_wz: 0.1 + C_mxy: 0.074156208000000 + C_mz: 0.050643264000000 \ No newline at end of file diff --git a/ROS - Indigo/autonomous-quadrotor/param/robbe_2827-34_epp1045.yaml b/ROS - Indigo/autonomous-quadrotor/param/robbe_2827-34_epp1045.yaml new file mode 100644 index 0000000..4a2e1ad --- /dev/null +++ b/ROS - Indigo/autonomous-quadrotor/param/robbe_2827-34_epp1045.yaml @@ -0,0 +1,14 @@ +quadrotor_propulsion: + Psi: 0.007242179827506 + J_M: 2.573048063300000e-5 + R_A: 0.201084219222241 + k_t: 0.015336864714397 + k_m: -7.011631909766668e-5 + alpha_m: 0.104863758313889 + beta_m: 0.549262344777900 + + CT2s: -1.3077e-2 + CT1s: -2.5224e-4 + CT0s: 1.538190483976698e-5 + + l_m: 0.275 diff --git a/ROS - Indigo/autonomous-quadrotor/param/robbe_2827-34_epp1245.yaml b/ROS - Indigo/autonomous-quadrotor/param/robbe_2827-34_epp1245.yaml new file mode 100644 index 0000000..fbd8ed0 --- /dev/null +++ b/ROS - Indigo/autonomous-quadrotor/param/robbe_2827-34_epp1245.yaml @@ -0,0 +1,11 @@ +quadrotor_propulsion: + Psi: 0.007242179827506 + J_M: 4.142069415e-05 + R_A: 0.201084219222241 + k_t: 0.01732804081 + + CT2s: -2.3491553043010e-2 + CT1s: -4.531245193522030e-04 + CT0s: 2.744543453e-05 + + l_m: 0.275 diff --git a/ROS - Indigo/autonomous-quadrotor/urdf/CMakeLists.txt b/ROS - Indigo/autonomous-quadrotor/urdf/CMakeLists.txt new file mode 100644 index 0000000..e20578d --- /dev/null +++ b/ROS - Indigo/autonomous-quadrotor/urdf/CMakeLists.txt @@ -0,0 +1,56 @@ +option(USE_GROUND_TRUTH_FOR_CONTROL "Use the ground truth state as input for the controller" ON) +if(USE_GROUND_TRUTH_FOR_CONTROL) + set(CONTROL_STATE_TOPIC "ground_truth/state") + set(CONTROL_IMU_TOPIC "raw_imu") +else() + set(CONTROL_STATE_TOPIC "state") + set(CONTROL_IMU_TOPIC "imu") +endif() + +option(USE_POSE_ESTIMATION "Use hector_pose_estimation to estimate the pose of the quadrotor." ON) +if(USE_POSE_ESTIMATION) + rosbuild_find_ros_package(gazebo_rtt_plugin) + rosbuild_find_ros_package(hector_pose_estimation_rtt) + + if(NOT EXISTS ${gazebo_rtt_plugin_PACKAGE_PATH}/lib/libgazebo_rtt_plugin.so OR + NOT EXISTS ${hector_pose_estimation_rtt_PACKAGE_PATH}/lib/orocos/gnulinux/libhector_pose_estimation_rtt-gnulinux.so) + message(STATUS "Not using the pose estimation plugin as the required plugins have not been found. Try to run 'rosmake gazebo_rtt_plugin hector_pose_estimation_rtt'.") + set(USE_POSE_ESTIMATION OFF) + endif() +endif() + +if(USE_POSE_ESTIMATION) + set(URDF "${URDF} \n") +endif() + +option(USE_PROPULSION_MODEL "Use a model of the quadrotor propulsion system" OFF) +if(USE_PROPULSION_MODEL) + rosbuild_find_ros_package(gazebo_rtt_plugin) + rosbuild_find_ros_package(hector_quadrotor_controller) + + if(NOT EXISTS ${gazebo_rtt_plugin_PACKAGE_PATH}/lib/libgazebo_rtt_plugin.so OR + NOT EXISTS ${hector_quadrotor_controller_PACKAGE_PATH}/lib/libhector_gazebo_quadrotor_propulsion.so) + message(STATUS "Not using the propulsion model as the required plugins have not been found. Try to run 'rosmake hector_quadrotor_controller'.") + set(USE_PROPULSION_MODEL OFF) + endif() +endif() + +if(USE_PROPULSION_MODEL) + set(URDF "${URDF} \n") + set(URDF "${URDF} \n") +else() + set(URDF "${URDF} \n") +endif() + +option(USE_AERODYNAMICS_MODEL "Use a model of the quadrotor aerodynamics" OFF) +if(USE_AERODYNAMICS_MODEL AND NOT EXISTS ${hector_quadrotor_controller_PACKAGE_PATH}/lib/libhector_gazebo_quadrotor_aerodynamics.so) + message(STATUS "Not using the aerodynamics model as the required plugin has not been found. Try to run 'rosmake hector_quadrotor_controller'.") + set(USE_AERODYNAMICS_MODEL OFF) +endif() + +if(USE_AERODYNAMICS_MODEL) + set(URDF "${URDF} \n") +endif() + +configure_file(quadrotor_plugins.urdf.xacro.in ${PROJECT_SOURCE_DIR}/urdf/quadrotor_plugins.urdf.xacro @ONLY) +set_directory_properties(PROPERTIES ADDITIONAL_MAKE_CLEAN_FILES ${PROJECT_SOURCE_DIR}/urdf/quadrotor_plugins.urdf.xacro) diff --git a/ROS - Indigo/autonomous-quadrotor/urdf/quadrotor_aerodynamics.gazebo.xacro b/ROS - Indigo/autonomous-quadrotor/urdf/quadrotor_aerodynamics.gazebo.xacro new file mode 100644 index 0000000..c4a42c8 --- /dev/null +++ b/ROS - Indigo/autonomous-quadrotor/urdf/quadrotor_aerodynamics.gazebo.xacro @@ -0,0 +1,16 @@ + + + + + + + + + true + 0.0 + base_link + + + + + diff --git a/ROS - Indigo/autonomous-quadrotor/urdf/quadrotor_controller.gazebo.xacro b/ROS - Indigo/autonomous-quadrotor/urdf/quadrotor_controller.gazebo.xacro new file mode 100644 index 0000000..fa02559 --- /dev/null +++ b/ROS - Indigo/autonomous-quadrotor/urdf/quadrotor_controller.gazebo.xacro @@ -0,0 +1,11 @@ + + + + + + 0.01 + hector_quadrotor_controller_gazebo/QuadrotorHardwareSim + + + + diff --git a/ROS - Indigo/autonomous-quadrotor/urdf/quadrotor_plugins.urdf.xacro b/ROS - Indigo/autonomous-quadrotor/urdf/quadrotor_plugins.urdf.xacro new file mode 100644 index 0000000..04cdef1 --- /dev/null +++ b/ROS - Indigo/autonomous-quadrotor/urdf/quadrotor_plugins.urdf.xacro @@ -0,0 +1,18 @@ + + + + + + + + + + + + + base_link + + + + + diff --git a/ROS - Indigo/autonomous-quadrotor/urdf/quadrotor_plugins.urdf.xacro.in b/ROS - Indigo/autonomous-quadrotor/urdf/quadrotor_plugins.urdf.xacro.in new file mode 100644 index 0000000..e828b07 --- /dev/null +++ b/ROS - Indigo/autonomous-quadrotor/urdf/quadrotor_plugins.urdf.xacro.in @@ -0,0 +1,17 @@ + + + + + + + + + + + + + base_link + +@URDF@ + + diff --git a/ROS - Indigo/autonomous-quadrotor/urdf/quadrotor_propulsion.gazebo.xacro b/ROS - Indigo/autonomous-quadrotor/urdf/quadrotor_propulsion.gazebo.xacro new file mode 100644 index 0000000..116e8c6 --- /dev/null +++ b/ROS - Indigo/autonomous-quadrotor/urdf/quadrotor_propulsion.gazebo.xacro @@ -0,0 +1,20 @@ + + + + + + + + + true + 0.0 + base_link + 100.0 + + 0.01 + 100.0 + + + + + diff --git a/ROS - Indigo/autonomous-quadrotor/urdf/quadrotor_sensors.urdf.xacro b/ROS - Indigo/autonomous-quadrotor/urdf/quadrotor_sensors.urdf.xacro new file mode 100644 index 0000000..fb8199b --- /dev/null +++ b/ROS - Indigo/autonomous-quadrotor/urdf/quadrotor_sensors.urdf.xacro @@ -0,0 +1,62 @@ + + + + + + + + + 100.0 + base_link + raw_imu + 0 0 0 + 0 + 0.5 0.5 0.5 + 0.35 0.35 0.3 + 0.1 0.1 0.1 + 0.05 0.05 0.015 + 0.1 + 0.05 + + + + 10.0 + base_link + pressure_height + altimeter + 0 + 0.1 + 0.1 + + + + 10.0 + base_link + magnetic + 0 0 0 + 0.0 0.0 0.0 + 1.3e-2 1.3e-2 1.3e-2 + + + + 4.0 + base_link + fix + fix_velocity + 5.0 5.0 5.0 + 0.01 0.01 0.01 + 0 0 0 + 0.05 0.05 0.05 + + + + 100.0 + base_link + ground_truth/state + 0.0 + map + + + + + diff --git a/ROS - Indigo/hector_quadrotor_urdf/CMakeLists.txt b/ROS - Indigo/hector_quadrotor_urdf/CMakeLists.txt new file mode 100644 index 0000000..f8f1c9c --- /dev/null +++ b/ROS - Indigo/hector_quadrotor_urdf/CMakeLists.txt @@ -0,0 +1,30 @@ +cmake_minimum_required(VERSION 2.4.6) +include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) + +# Set the build type. Options are: +# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage +# Debug : w/ debug symbols, w/o optimization +# Release : w/o debug symbols, w/ optimization +# RelWithDebInfo : w/ debug symbols, w/ optimization +# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries +#set(ROS_BUILD_TYPE RelWithDebInfo) + +rosbuild_init() + +#set the default path for built executables to the "bin" directory +set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) +#set the default path for built libraries to the "lib" directory +set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) + +#uncomment if you have defined messages +#rosbuild_genmsg() +#uncomment if you have defined services +#rosbuild_gensrv() + +#common commands for building c++ executables and libraries +#rosbuild_add_library(${PROJECT_NAME} src/example.cpp) +#target_link_libraries(${PROJECT_NAME} another_library) +#rosbuild_add_boost_directories() +#rosbuild_link_boost(${PROJECT_NAME} thread) +#rosbuild_add_executable(example examples/example.cpp) +#target_link_libraries(example ${PROJECT_NAME}) diff --git a/ROS - Indigo/hector_quadrotor_urdf/launch/xacrodisplay_quadrotor_base.launch b/ROS - Indigo/hector_quadrotor_urdf/launch/xacrodisplay_quadrotor_base.launch new file mode 100644 index 0000000..cc18ca6 --- /dev/null +++ b/ROS - Indigo/hector_quadrotor_urdf/launch/xacrodisplay_quadrotor_base.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/ROS - Indigo/hector_quadrotor_urdf/mainpage.dox b/ROS - Indigo/hector_quadrotor_urdf/mainpage.dox new file mode 100644 index 0000000..87df371 --- /dev/null +++ b/ROS - Indigo/hector_quadrotor_urdf/mainpage.dox @@ -0,0 +1,26 @@ +/** +\mainpage +\htmlinclude manifest.html + +\b hector_quadrotor_urdf is ... + + + + +\section codeapi Code API + + + + +*/ diff --git a/ROS - Indigo/hector_quadrotor_urdf/manifest.xml b/ROS - Indigo/hector_quadrotor_urdf/manifest.xml new file mode 100644 index 0000000..d2a68c1 --- /dev/null +++ b/ROS - Indigo/hector_quadrotor_urdf/manifest.xml @@ -0,0 +1,16 @@ + + + + hector_quadrotor_urdf provides an URDF model of a quadrotor UAV. + + + Stefan Kohlbrecher and Johannes Meyer + BSD + + http://ros.org/wiki/hector_quadrotor_urdf + + + + + + diff --git a/ROS - Indigo/hector_quadrotor_urdf/meshes/quadrotor/blender/quadrotor_base.blend b/ROS - Indigo/hector_quadrotor_urdf/meshes/quadrotor/blender/quadrotor_base.blend new file mode 100644 index 0000000..af035a6 Binary files /dev/null and b/ROS - Indigo/hector_quadrotor_urdf/meshes/quadrotor/blender/quadrotor_base.blend differ diff --git a/ROS - Indigo/hector_quadrotor_urdf/meshes/quadrotor/quadrotor_base.dae b/ROS - Indigo/hector_quadrotor_urdf/meshes/quadrotor/quadrotor_base.dae new file mode 100644 index 0000000..ab62cd7 --- /dev/null +++ b/ROS - Indigo/hector_quadrotor_urdf/meshes/quadrotor/quadrotor_base.dae @@ -0,0 +1,235 @@ + + + + + Stefan Kohlbrecher + Blender 2.61.4 r43829 + + 2012-02-03T14:20:49 + 2012-02-03T14:20:49 + + Z_UP + 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+ + + + + 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 +

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+ + + + + 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 +

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+ + + 1 + + + + + + 0 0 0 + 0 0 1 0 + 0 1 0 0 + 1 0 0 0 + 0.1335572 0.1335572 0.1335572 + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/ROS - Indigo/hector_quadrotor_urdf/meshes/quadrotor/quadrotor_base.stl b/ROS - Indigo/hector_quadrotor_urdf/meshes/quadrotor/quadrotor_base.stl new file mode 100644 index 0000000..d553efc Binary files /dev/null and b/ROS - Indigo/hector_quadrotor_urdf/meshes/quadrotor/quadrotor_base.stl differ diff --git a/ROS - Indigo/hector_quadrotor_urdf/urdf/quadrotor.urdf.xacro b/ROS - Indigo/hector_quadrotor_urdf/urdf/quadrotor.urdf.xacro new file mode 100644 index 0000000..d688657 --- /dev/null +++ b/ROS - Indigo/hector_quadrotor_urdf/urdf/quadrotor.urdf.xacro @@ -0,0 +1,14 @@ + + + + + + + + + + + diff --git a/ROS - Indigo/hector_quadrotor_urdf/urdf/quadrotor_base.urdf.xacro b/ROS - Indigo/hector_quadrotor_urdf/urdf/quadrotor_base.urdf.xacro new file mode 100644 index 0000000..54c7525 --- /dev/null +++ b/ROS - Indigo/hector_quadrotor_urdf/urdf/quadrotor_base.urdf.xacro @@ -0,0 +1,45 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + false + + + + + + diff --git a/ROS - Indigo/hector_quadrotor_urdf/urdf/quadrotor_downward_cam.urdf.xacro b/ROS - Indigo/hector_quadrotor_urdf/urdf/quadrotor_downward_cam.urdf.xacro new file mode 100644 index 0000000..0216cf3 --- /dev/null +++ b/ROS - Indigo/hector_quadrotor_urdf/urdf/quadrotor_downward_cam.urdf.xacro @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS - Indigo/hector_quadrotor_urdf/urdf/quadrotor_hokuyo_utm30lx.urdf.xacro b/ROS - Indigo/hector_quadrotor_urdf/urdf/quadrotor_hokuyo_utm30lx.urdf.xacro new file mode 100644 index 0000000..7b4755d --- /dev/null +++ b/ROS - Indigo/hector_quadrotor_urdf/urdf/quadrotor_hokuyo_utm30lx.urdf.xacro @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS - Indigo/hector_quadrotor_urdf/urdf/quadrotor_with_asus.urdf.xacro b/ROS - Indigo/hector_quadrotor_urdf/urdf/quadrotor_with_asus.urdf.xacro new file mode 100644 index 0000000..81f86e5 --- /dev/null +++ b/ROS - Indigo/hector_quadrotor_urdf/urdf/quadrotor_with_asus.urdf.xacro @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/ROS - Indigo/hector_quadrotor_urdf/urdf/quadrotor_with_asus_with_hokuyo_utm30lx.urdf.xacro b/ROS - Indigo/hector_quadrotor_urdf/urdf/quadrotor_with_asus_with_hokuyo_utm30lx.urdf.xacro new file mode 100644 index 0000000..bb8628a --- /dev/null +++ b/ROS - Indigo/hector_quadrotor_urdf/urdf/quadrotor_with_asus_with_hokuyo_utm30lx.urdf.xacro @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS - Indigo/hector_quadrotor_urdf/urdf/quadrotor_with_cam.urdf.xacro b/ROS - Indigo/hector_quadrotor_urdf/urdf/quadrotor_with_cam.urdf.xacro new file mode 100644 index 0000000..3721bd2 --- /dev/null +++ b/ROS - Indigo/hector_quadrotor_urdf/urdf/quadrotor_with_cam.urdf.xacro @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS - Indigo/hector_quadrotor_urdf/urdf/quadrotor_with_kinect.urdf.xacro b/ROS - Indigo/hector_quadrotor_urdf/urdf/quadrotor_with_kinect.urdf.xacro new file mode 100644 index 0000000..89f2222 --- /dev/null +++ b/ROS - Indigo/hector_quadrotor_urdf/urdf/quadrotor_with_kinect.urdf.xacro @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/ROS - Indigo/hector_quadrotor_urdf/urdf/quadrotore.urdf b/ROS - Indigo/hector_quadrotor_urdf/urdf/quadrotore.urdf new file mode 100644 index 0000000..e3a56dc --- /dev/null +++ b/ROS - Indigo/hector_quadrotor_urdf/urdf/quadrotore.urdf @@ -0,0 +1,250 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + 10 + 0 0 0 0 0 0 + false + + + + 3 + 1 + -0.349065850399 + 0.349065850399 + + + 3 + 1 + -0.349065850399 + 0.349065850399 + + + + 0.03 + 3.0 + 0.01 + + + + 0.005 + sonar_height + sonar_link + + + + + false + + base_link + + + 100.0 + base_link + raw_imu + 0 0 0 + + 0 + + 0.5 0.5 0.5 + 0.35 0.35 0.3 + 0.1 0.1 0.1 + 0.05 0.05 0.015 + 0.1 + 0.05 + + + 10.0 + base_link + pressure_height + altimeter + 0 + 0.1 + 0.1 + + + 10.0 + base_link + magnetic + 0 0 0 + 0.0 0.0 0.0 + 1.3e-2 1.3e-2 1.3e-2 + + + 4.0 + base_link + fix + fix_velocity + 5.0 5.0 5.0 + 0.01 0.01 0.01 + 0 0 0 + 0.05 0.05 0.05 + + + 100.0 + base_link + ground_truth/state + 0.0 + map + + + true + 1000.0 + + + + + + true + 0.0 + base_link + cmd_vel + ground_truth/state + raw_imu + 10.0 + 5.0 + 0.5 + 2.0 + 1.0 + 1.5 + 5.0 + 1.0 + 5 + 5.0 + 1.0 + 2 + 30 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 20 + + 1.0471975512 + + R8G8B8 + 320 + 240 + + + 0.2 + 20 + + + + true + 20 + camera/rgb/image_raw + camera/rgb/camera_info + camera/depth/image_raw + camera/depth/camera_info + camera/depth/points + camera_depth_optical_frame + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + 0.2 + 20 + + + + + diff --git a/ROS - Indigo/moveit_simple_controller_manager/CMakeLists.txt b/ROS - Indigo/moveit_simple_controller_manager/CMakeLists.txt new file mode 100644 index 0000000..3c43232 --- /dev/null +++ b/ROS - Indigo/moveit_simple_controller_manager/CMakeLists.txt @@ -0,0 +1,44 @@ +cmake_minimum_required(VERSION 2.8.3) +project(moveit_simple_controller_manager) + +if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE) + set(CMAKE_BUILD_TYPE Release) +endif() + +find_package(Boost REQUIRED thread) +include_directories(SYSTEM ${Boost_INCLUDE_DIR} "../action_controller/msg_gen/cpp/include") #WIM Changed +link_directories(${Boost_LIBRARY_DIRS}) + +find_package(catkin COMPONENTS + moveit_core + pluginlib + actionlib + roscpp + control_msgs + REQUIRED) + +include_directories(${catkin_INCLUDE_DIRS}) +link_directories(${catkin_LIBRARY_DIRS}) + +generate_messages( + DEPENDENCIES + action_controller +) + +catkin_package( + LIBRARIES + INCLUDE_DIRS + DEPENDS + moveit_core + ) + +include_directories(include) + +add_library(moveit_simple_controller_manager src/moveit_simple_controller_manager.cpp) +target_link_libraries(moveit_simple_controller_manager ${catkin_LIBRARIES} ${Boost_LIBRARIES}) + +install(TARGETS moveit_simple_controller_manager LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}) + +install(FILES moveit_simple_controller_manager_plugin_description.xml + DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} + ) diff --git a/ROS - Indigo/moveit_simple_controller_manager/README.txt b/ROS - Indigo/moveit_simple_controller_manager/README.txt new file mode 100644 index 0000000..f386d3d --- /dev/null +++ b/ROS - Indigo/moveit_simple_controller_manager/README.txt @@ -0,0 +1 @@ +Modified version of Moveit_simple_controller_manager to handle MultiDofFollowJointTrajectoryAction and to interface the plugin with the action_controller diff --git a/ROS - Indigo/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h b/ROS - Indigo/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h new file mode 100644 index 0000000..aa09efb --- /dev/null +++ b/ROS - Indigo/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h @@ -0,0 +1,177 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Unbounded Robotics Inc. + * Copyright (c) 2012, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Willow Garage nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +/* Author: Michael Ferguson, Ioan Sucan, E. Gil Jones */ + +#ifndef MOVEIT_PLUGINS_ACTION_BASED_CONTROLLER_HANDLE +#define MOVEIT_PLUGINS_ACTION_BASED_CONTROLLER_HANDLE + +#include +#include +#include + +namespace moveit_simple_controller_manager +{ + +/* + * This exist solely to inject addJoint/getJoints into base non-templated class. + */ +class ActionBasedControllerHandleBase : public moveit_controller_manager::MoveItControllerHandle +{ +public: + ActionBasedControllerHandleBase(const std::string &name) : + moveit_controller_manager::MoveItControllerHandle(name) + { + } + + virtual void addJoint(const std::string &name) = 0; + virtual void getJoints(std::vector &joints) = 0; +}; + +MOVEIT_CLASS_FORWARD(ActionBasedControllerHandleBase); + + +/* + * This is a simple base class, which handles all of the action creation/etc + */ +template +class ActionBasedControllerHandle : public ActionBasedControllerHandleBase +{ + +public: + ActionBasedControllerHandle(const std::string &name, const std::string &ns) : + ActionBasedControllerHandleBase(name), + namespace_(ns), + done_(true) + { + controller_action_client_.reset(new actionlib::SimpleActionClient(getActionName(), true)); + unsigned int attempts = 0; + while (ros::ok() && !controller_action_client_->waitForServer(ros::Duration(5.0)) && ++attempts < 3) + ROS_INFO_STREAM("MoveitSimpleControllerManager: Waiting for " << getActionName() << " to come up"); + + if (!controller_action_client_->isServerConnected()) + { + ROS_ERROR_STREAM("MoveitSimpleControllerManager: Action client not connected: " << getActionName()); + controller_action_client_.reset(); + } + + last_exec_ = moveit_controller_manager::ExecutionStatus::SUCCEEDED; + } + + bool isConnected() const + { + return controller_action_client_; + } + + virtual bool cancelExecution() + { + if (!controller_action_client_) + return false; + if (!done_) + { + ROS_INFO_STREAM("MoveitSimpleControllerManager: Cancelling execution for " << name_); + controller_action_client_->cancelGoal(); + last_exec_ = moveit_controller_manager::ExecutionStatus::PREEMPTED; + done_ = true; + } + return true; + } + + virtual bool waitForExecution(const ros::Duration &timeout = ros::Duration(0)) + { + if (controller_action_client_ && !done_) + return controller_action_client_->waitForResult(timeout); + return true; + } + + virtual moveit_controller_manager::ExecutionStatus getLastExecutionStatus() + { + return last_exec_; + } + + virtual void addJoint(const std::string &name) + { + joints_.push_back(name); + } + + virtual void getJoints(std::vector &joints) + { + joints = joints_; + } + +protected: + + std::string getActionName(void) const + { + if (namespace_.empty()) + return name_; + else + return name_ +"/" + namespace_; + } + + void finishControllerExecution(const actionlib::SimpleClientGoalState& state) + { + ROS_DEBUG_STREAM("MoveitSimpleControllerManager: Controller " << name_ << " is done with state " << state.toString() << ": " << state.getText()); + if (state == actionlib::SimpleClientGoalState::SUCCEEDED) + last_exec_ = moveit_controller_manager::ExecutionStatus::SUCCEEDED; + else + if (state == actionlib::SimpleClientGoalState::ABORTED) + last_exec_ = moveit_controller_manager::ExecutionStatus::ABORTED; + else + if (state == actionlib::SimpleClientGoalState::PREEMPTED) + last_exec_ = moveit_controller_manager::ExecutionStatus::PREEMPTED; + else + last_exec_ = moveit_controller_manager::ExecutionStatus::FAILED; + done_ = true; + } + + /* execution status */ + moveit_controller_manager::ExecutionStatus last_exec_; + bool done_; + + /* the controller namespace, for instance, topics will map to name/ns/goal, name/ns/result, etc */ + std::string namespace_; + + /* the joints controlled by this controller */ + std::vector joints_; + + /* action client */ + boost::shared_ptr > controller_action_client_; +}; + + +} // end namespace moveit_simple_controller_manager + +#endif // MOVEIT_PLUGINS_ACTION_BASED_CONTROLLER_HANDLE diff --git a/ROS - Indigo/moveit_simple_controller_manager/include/moveit_simple_controller_manager/follow_joint_trajectory_controller_handle.h b/ROS - Indigo/moveit_simple_controller_manager/include/moveit_simple_controller_manager/follow_joint_trajectory_controller_handle.h new file mode 100644 index 0000000..0ecdd92 --- /dev/null +++ b/ROS - Indigo/moveit_simple_controller_manager/include/moveit_simple_controller_manager/follow_joint_trajectory_controller_handle.h @@ -0,0 +1,110 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Unbounded Robotics Inc. + * Copyright (c) 2012, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Willow Garage nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +/* Author: Michael Ferguson, Ioan Sucan, E. Gil Jones */ + +#ifndef MOVEIT_PLUGINS_FOLLOW_TRAJECTORY_CONTROLLER_HANDLE +#define MOVEIT_PLUGINS_FOLLOW_TRAJECTORY_CONTROLLER_HANDLE + +#include +#include + +namespace moveit_simple_controller_manager +{ + +/* + * This is generally used for arms, but could also be used for multi-dof hands, + * or anything using a control_mgs/FollowJointTrajectoryAction. + */ +class FollowJointTrajectoryControllerHandle : public ActionBasedControllerHandle +{ +public: + + FollowJointTrajectoryControllerHandle(const std::string &name, const std::string &action_ns) : + ActionBasedControllerHandle(name, action_ns) + { + } + + virtual bool sendTrajectory(const moveit_msgs::RobotTrajectory &trajectory) + { + ROS_DEBUG_STREAM("FollowJointTrajectoryController: new trajectory to " << name_); + + if (!controller_action_client_) + return false; + + if (!trajectory.multi_dof_joint_trajectory.points.empty()) + { + ROS_ERROR("FollowJointTrajectoryController: cannot execute multi-dof trajectories."); + return false; + } + + if (done_) + ROS_DEBUG_STREAM("FollowJointTrajectoryController: sending trajectory to " << name_); + else + ROS_DEBUG_STREAM("FollowJointTrajectoryController: sending continuation for the currently executed trajectory to " << name_); + + control_msgs::FollowJointTrajectoryGoal goal; + goal.trajectory = trajectory.joint_trajectory; + controller_action_client_->sendGoal(goal, + boost::bind(&FollowJointTrajectoryControllerHandle::controllerDoneCallback, this, _1, _2), + boost::bind(&FollowJointTrajectoryControllerHandle::controllerActiveCallback, this), + boost::bind(&FollowJointTrajectoryControllerHandle::controllerFeedbackCallback, this, _1)); + done_ = false; + last_exec_ = moveit_controller_manager::ExecutionStatus::RUNNING; + return true; + } + +protected: + + void controllerDoneCallback(const actionlib::SimpleClientGoalState& state, + const control_msgs::FollowJointTrajectoryResultConstPtr& result) + { + finishControllerExecution(state); + } + + void controllerActiveCallback() + { + ROS_DEBUG_STREAM("FollowJointTrajectoryController: " << name_ << " started execution"); + } + + void controllerFeedbackCallback(const control_msgs::FollowJointTrajectoryFeedbackConstPtr& feedback) + { + } +}; + + +} // end namespace moveit_simple_controller_manager + +#endif // MOVEIT_PLUGINS_FOLLOW_TRAJECTORY_CONTROLLER_HANDLE diff --git a/ROS - Indigo/moveit_simple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h b/ROS - Indigo/moveit_simple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h new file mode 100644 index 0000000..095b48f --- /dev/null +++ b/ROS - Indigo/moveit_simple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h @@ -0,0 +1,183 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Unbounded Robotics Inc. + * Copyright (c) 2012, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Willow Garage nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +/* Author: Michael Ferguson, Ioan Sucan, E. Gil Jones */ + +#ifndef MOVEIT_PLUGINS_GRIPPER_CONTROLLER_HANDLE +#define MOVEIT_PLUGINS_GRIPPER_CONTROLLER_HANDLE + +#include +#include +#include + +namespace moveit_simple_controller_manager +{ + + +/* + * This is an interface for a gripper using control_msgs/GripperCommandAction action interface (single DOF). + */ +class GripperControllerHandle : public ActionBasedControllerHandle +{ +public: + /* Topics will map to name/ns/goal, name/ns/result, etc */ + GripperControllerHandle(const std::string &name, const std::string &ns) : + ActionBasedControllerHandle(name, ns), + allow_failure_(false) + { + } + + virtual bool sendTrajectory(const moveit_msgs::RobotTrajectory &trajectory) + { + ROS_DEBUG_STREAM_NAMED("GripperController", "Received new trajectory for " << name_); + + if (!controller_action_client_) + return false; + + if (!trajectory.multi_dof_joint_trajectory.points.empty()) + { + ROS_ERROR_NAMED("GripperController", "Gripper cannot execute multi-dof trajectories."); + return false; + } + + if (trajectory.joint_trajectory.points.empty()) + { + ROS_ERROR_NAMED("GripperController", "GripperController expects a joint trajectory with one point only, but %u provided)", (unsigned int)trajectory.joint_trajectory.points.size()); + return false; + } + if (trajectory.joint_trajectory.points.size() > 1) + ROS_WARN_NAMED("GripperController", "GripperController expects a joint trajectory with one point only, but %u provided)", (unsigned int)trajectory.joint_trajectory.points.size()); + + if (trajectory.joint_trajectory.joint_names.empty()) + { + ROS_ERROR_NAMED("GripperController", "No joint names specified"); + return false; + } + + int gripper_joint_index = -1; + for (std::size_t i = 0 ; i < trajectory.joint_trajectory.joint_names.size() ; ++i) + if (command_joints_.find(trajectory.joint_trajectory.joint_names[i]) != command_joints_.end()) + { + gripper_joint_index = i; + break; + } + if (gripper_joint_index < 0) + { + ROS_WARN_NAMED("GripperController", "No command_joint was specified for the MoveIt controller gripper handle. Please see GripperControllerHandle::addCommandJoint() and GripperControllerHandle::setCommandJoint(). Assuming index 0."); + gripper_joint_index = 0; + } + + if (trajectory.joint_trajectory.points[0].positions.size() <= gripper_joint_index) + { + ROS_ERROR_NAMED("GripperController", "GripperController expects a joint trajectory with one point that specifies at least the position of joint '%s', but insufficient positions provided", + trajectory.joint_trajectory.joint_names[gripper_joint_index].c_str()); + return false; + } + + /* TODO: currently sending velocity as effort, make this better. */ + control_msgs::GripperCommandGoal goal; + if (trajectory.joint_trajectory.points[0].velocities.size() > gripper_joint_index) + goal.command.max_effort = trajectory.joint_trajectory.points[0].velocities[gripper_joint_index]; + + goal.command.position = trajectory.joint_trajectory.points[0].positions[gripper_joint_index]; + controller_action_client_->sendGoal(goal, + boost::bind(&GripperControllerHandle::controllerDoneCallback, this, _1, _2), + boost::bind(&GripperControllerHandle::controllerActiveCallback, this), + boost::bind(&GripperControllerHandle::controllerFeedbackCallback, this, _1)); + done_ = false; + last_exec_ = moveit_controller_manager::ExecutionStatus::RUNNING; + return true; + } + + void setCommandJoint(const std::string& name) + { + command_joints_.clear(); + addCommandJoint(name); + } + + void addCommandJoint(const std::string& name) + { + command_joints_.insert(name); + } + + void allowFailure(bool allow) + { + allow_failure_ = allow; + } + +private: + + void controllerDoneCallback(const actionlib::SimpleClientGoalState& state, + const control_msgs::GripperCommandResultConstPtr& result) + { + if (state == actionlib::SimpleClientGoalState::ABORTED && allow_failure_) + finishControllerExecution(actionlib::SimpleClientGoalState::SUCCEEDED); + else + finishControllerExecution(state); + } + + void controllerActiveCallback() + { + ROS_DEBUG_STREAM("GripperController: " << name_ << " started execution"); + } + + void controllerFeedbackCallback(const control_msgs::GripperCommandFeedbackConstPtr& feedback) + { + } + + /* + * Some gripper drivers may indicate a failure if they do not close all the way when + * an object is in the gripper. + */ + bool allow_failure_; + + /* + * A GripperCommand message has only a single float64 for the + * "command", thus only a single joint angle can be sent -- however, + * due to the complexity of making grippers look correct in a URDF, + * they typically have >1 joints. The "command_joint" is the joint + * whose position value will be sent in the GripperCommand action. A + * set of names is provided for acceptable joint names. If any of + * the joints specified is found, the value corresponding to that + * joint is considered the command. E.g., for a two-arm robot, we + * could have two names: one for the joint of each arm. + */ + std::set command_joints_; +}; + + +} // end namespace moveit_simple_controller_manager + +#endif // MOVEIT_PLUGINS_GRIPPER_CONTROLLER_HANDLE diff --git a/ROS - Indigo/moveit_simple_controller_manager/include/moveit_simple_controller_manager/multi_dof_follow_joint_trajectory_handle.h b/ROS - Indigo/moveit_simple_controller_manager/include/moveit_simple_controller_manager/multi_dof_follow_joint_trajectory_handle.h new file mode 100644 index 0000000..86ea4ca --- /dev/null +++ b/ROS - Indigo/moveit_simple_controller_manager/include/moveit_simple_controller_manager/multi_dof_follow_joint_trajectory_handle.h @@ -0,0 +1,107 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Unbounded Robotics Inc. + * Copyright (c) 2012, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Willow Garage nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +/* Author: Michael Ferguson, Ioan Sucan, E. Gil Jones */ + +#ifndef MULTI_DOF_FOLLOW_JOINT_CONTROLLER_HANDLE +#define MULTI_DOF_FOLLOW_JOINT_CONTROLLER_HANDLE + +#include +#include + +namespace moveit_simple_controller_manager +{ + +class MultiDofFollowJointTrajectoryControllerHandle : public ActionBasedControllerHandle +{ + +public: + + MultiDofFollowJointTrajectoryControllerHandle(const std::string &name, const std::string &action_ns) : + ActionBasedControllerHandle(name, action_ns) + { + } + + virtual bool sendTrajectory(const moveit_msgs::RobotTrajectory &trajectory) + { + ROS_DEBUG_STREAM("MultiDofFollowJointTrajectoryController: new trajectory to " << name_); + + if (!controller_action_client_) + return false; + + if (trajectory.multi_dof_joint_trajectory.points.empty()) + { + ROS_ERROR("MultiDofFollowJointTrajectoryController: cannot execute single-dof trajectories."); + return false; + } + + if (done_) + ROS_DEBUG_STREAM("MultiDofFollowJointTrajectoryController: sending trajectory to " << name_); + else + ROS_DEBUG_STREAM("MultiDofFollowJointTrajectoryController: sending continuation for the currently executed trajectory to " << name_); + + action_controller::MultiDofFollowJointTrajectoryGoal goal; + goal.trajectory = trajectory.multi_dof_joint_trajectory; + controller_action_client_-> sendGoal(goal, + boost::bind(&MultiDofFollowJointTrajectoryControllerHandle::controllerDoneCallback, this, _1, _2), + boost::bind(&MultiDofFollowJointTrajectoryControllerHandle::controllerActiveCallback, this), + boost::bind(&MultiDofFollowJointTrajectoryControllerHandle::controllerFeedbackCallback, this, _1)); + done_ = false; + last_exec_ = moveit_controller_manager::ExecutionStatus::RUNNING; + return true; + } + +protected: + + void controllerDoneCallback(const actionlib::SimpleClientGoalState& state, + const action_controller::MultiDofFollowJointTrajectoryResultConstPtr& result) + { + finishControllerExecution(state); + } + + void controllerActiveCallback() + { + ROS_DEBUG_STREAM("MultiDofFollowJointTrajectoryController: " << name_ << " started execution"); + } + + void controllerFeedbackCallback(const action_controller::MultiDofFollowJointTrajectoryFeedbackConstPtr& feedback) + { + } +}; + + +} // end namespace moveit_simple_controller_manager + +#endif // MOVEIT_PLUGINS_FOLLOW_TRAJECTORY_CONTROLLER_HANDLE diff --git a/ROS - Indigo/moveit_simple_controller_manager/moveit_simple_controller_manager_plugin_description.xml b/ROS - Indigo/moveit_simple_controller_manager/moveit_simple_controller_manager_plugin_description.xml new file mode 100644 index 0000000..e199cb8 --- /dev/null +++ b/ROS - Indigo/moveit_simple_controller_manager/moveit_simple_controller_manager_plugin_description.xml @@ -0,0 +1,10 @@ + + + + + + + + diff --git a/ROS - Indigo/moveit_simple_controller_manager/package.xml b/ROS - Indigo/moveit_simple_controller_manager/package.xml new file mode 100644 index 0000000..098f42e --- /dev/null +++ b/ROS - Indigo/moveit_simple_controller_manager/package.xml @@ -0,0 +1,34 @@ + + moveit_simple_controller_manager + 0.5.2 + A generic, simple controller manager plugin for MoveIt. + Michael Ferguson + Michael Ferguson + + BSD + + http://moveit.ros.org + https://github.com/ros-planning/moveit_plugins/issues + https://github.com/ros-planning/moveit_plugins + + catkin + + action_controller + moveit_core + roscpp + pluginlib + control_msgs + actionlib + + action_controller + moveit_core + roscpp + pluginlib + control_msgs + actionlib + + + + + + diff --git a/ROS - Indigo/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp b/ROS - Indigo/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp new file mode 100644 index 0000000..d42803a --- /dev/null +++ b/ROS - Indigo/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp @@ -0,0 +1,240 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Unbounded Robotics Inc. + * Copyright (c) 2012, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Willow Garage nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +/* Author: Michael Ferguson, Ioan Sucan, E. Gil Jones */ + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace moveit_simple_controller_manager +{ + + +class MoveItSimpleControllerManager : public moveit_controller_manager::MoveItControllerManager +{ +public: + + MoveItSimpleControllerManager() : node_handle_("~") +{ + if (!node_handle_.hasParam("controller_list")) + { + ROS_ERROR_STREAM("MoveitSimpleControllerManager: No controller_list specified."); + return; + } + + XmlRpc::XmlRpcValue controller_list; + node_handle_.getParam("controller_list", controller_list); + if (controller_list.getType() != XmlRpc::XmlRpcValue::TypeArray) + { + ROS_ERROR("MoveitSimpleControllerManager: controller_list should be specified as an array"); + return; + } + + /* actually create each controller */ + for (int i = 0 ; i < controller_list.size() ; ++i) + { + if (!controller_list[i].hasMember("name") || !controller_list[i].hasMember("joints")) + { + ROS_ERROR("MoveitSimpleControllerManager: Name and joints must be specifed for each controller"); + continue; + } + + try + { + std::string name = std::string(controller_list[i]["name"]); + + std::string action_ns; + if (controller_list[i].hasMember("ns")) + { + /* TODO: this used to be called "ns", renaming to "action_ns" and will remove in the future */ + action_ns = std::string(controller_list[i]["ns"]); + ROS_WARN("MoveitSimpleControllerManager: use of 'ns' is deprecated, use 'action_ns' instead."); + } + else if (controller_list[i].hasMember("action_ns")) + action_ns = std::string(controller_list[i]["action_ns"]); + else + ROS_WARN("MoveitSimpleControllerManager: please note that 'action_ns' no longer has a default value."); + + if (controller_list[i]["joints"].getType() != XmlRpc::XmlRpcValue::TypeArray) + { + ROS_ERROR_STREAM("MoveitSimpleControllerManager: The list of joints for controller " << name << " is not specified as an array"); + continue; + } + + if (!controller_list[i].hasMember("type")) + { + ROS_ERROR_STREAM("MoveitSimpleControllerManager: No type specified for controller " << name); + continue; + } + + std::string type = std::string(controller_list[i]["type"]); + + ActionBasedControllerHandleBasePtr new_handle; + if ( type == "GripperCommand" ) + { + new_handle.reset(new GripperControllerHandle(name, action_ns)); + if (static_cast(new_handle.get())->isConnected()) + { + if (controller_list[i].hasMember("command_joint")) + static_cast(new_handle.get())->setCommandJoint(controller_list[i]["command_joint"]); + else + static_cast(new_handle.get())->setCommandJoint(controller_list[i]["joints"][0]); + + if (controller_list[i].hasMember("allow_failure")) + static_cast(new_handle.get())->allowFailure(true); + + ROS_INFO_STREAM("MoveitSimpleControllerManager: Added GripperCommand controller for " << name ); + controllers_[name] = new_handle; + } + } + else if ( type == "FollowJointTrajectory" ) + { + new_handle.reset(new FollowJointTrajectoryControllerHandle(name, action_ns)); + if (static_cast(new_handle.get())->isConnected()) + { + ROS_INFO_STREAM("MoveitSimpleControllerManager: Added FollowJointTrajectory controller for " << name ); + controllers_[name] = new_handle; + } + } + else if(type == "MultiDofFollowJointTrajectory") + { + new_handle.reset(new MultiDofFollowJointTrajectoryControllerHandle(name, action_ns)); + if (static_cast(new_handle.get())->isConnected()) + { + ROS_INFO_STREAM("MoveitSimpleControllerManager: Added MultiDofFollowJointTrajectory controller for " << name ); + controllers_[name] = new_handle; + } + } + + /* add list of joints, used by controller manager and moveit */ + for (int j = 0 ; j < controller_list[i]["joints"].size() ; ++j) + controllers_[name]->addJoint(std::string(controller_list[i]["joints"][j])); + } + catch (...) + { + ROS_ERROR("MoveitSimpleControllerManager: Unable to parse controller information"); + } + } +} + + virtual ~MoveItSimpleControllerManager() + { + } + + /* + * Get a controller, by controller name (which was specified in the controllers.yaml + */ + virtual moveit_controller_manager::MoveItControllerHandlePtr getControllerHandle(const std::string &name) + { + std::map::const_iterator it = controllers_.find(name); + if (it != controllers_.end()) + return static_cast(it->second); + else + ROS_FATAL_STREAM("No such controller: " << name); + } + + /* + * Get the list of controller names. + */ + virtual void getControllersList(std::vector &names) + { + for (std::map::const_iterator it = controllers_.begin() ; it != controllers_.end() ; ++it) + names.push_back(it->first); + ROS_INFO_STREAM("Returned " << names.size() << " controllers in list"); + } + + /* + * This plugin assumes that all controllers are already active -- and if they are not, well, it has no way to deal with it anyways! + */ + virtual void getActiveControllers(std::vector &names) + { + getControllersList(names); + } + + /* + * Controller must be loaded to be active, see comment above about active controllers... + */ + virtual void getLoadedControllers(std::vector &names) + { + getControllersList(names); + } + + /* + * Get the list of joints that a controller can control. + */ + virtual void getControllerJoints(const std::string &name, std::vector &joints) + { + std::map::const_iterator it = controllers_.find(name); + if (it != controllers_.end()) + { + it->second->getJoints(joints); + } + else + { + ROS_WARN("The joints for controller '%s' are not known. Perhaps the controller configuration is not loaded on the param server?", name.c_str()); + joints.clear(); + } + } + + /* + * Controllers are all active and default -- that's what makes this thing simple. + */ + virtual moveit_controller_manager::MoveItControllerManager::ControllerState getControllerState(const std::string &name) + { + moveit_controller_manager::MoveItControllerManager::ControllerState state; + state.active_ = true; + state.default_ = true; + return state; + } + + /* Cannot switch our controllers */ + virtual bool switchControllers(const std::vector &activate, const std::vector &deactivate) { return false; } + +protected: + + ros::NodeHandle node_handle_; + std::map controllers_; +}; + +} // end namespace moveit_simple_controller_manager + +PLUGINLIB_EXPORT_CLASS(moveit_simple_controller_manager::MoveItSimpleControllerManager, + moveit_controller_manager::MoveItControllerManager); diff --git a/ROS - Indigo/pr2_teleop/CMakeLists.txt b/ROS - Indigo/pr2_teleop/CMakeLists.txt new file mode 100644 index 0000000..1d3b22e --- /dev/null +++ b/ROS - Indigo/pr2_teleop/CMakeLists.txt @@ -0,0 +1,34 @@ +cmake_minimum_required(VERSION 2.8.3) +project(pr2_teleop) + +if(NOT CMAKE_CONFIGURATION_TYPES AND NOT CMAKE_BUILD_TYPE) + set(CMAKE_BUILD_TYPE Release) +endif() + +find_package(catkin REQUIRED COMPONENTS + moveit_core + pluginlib + actionlib + roscpp + trajectory_msgs + actionlib_msgs) + +include_directories(include ${catkin_INCLUDE_DIRS}) +link_directories(${catkin_LIBRARY_DIRS}) + +catkin_package( + LIBRARIES + INCLUDE_DIRS + DEPENDS + ) + +include_directories(include) + +add_executable(teleop_pr2_keyboard src/teleop_pr2_keyboard.cpp) +target_link_libraries(teleop_pr2_keyboard ${catkin_LIBRARIES} ${CMAKE_THREAD_LIBS_INIT}) +add_executable(teleop_pr2 src/teleop_pr2.cpp) +target_link_libraries(teleop_pr2 ${catkin_LIBRARIES} ${CMAKE_THREAD_LIBS_INIT}) +add_executable(teleop_gripper src/teleop_gripper.cpp) +target_link_libraries(teleop_gripper ${catkin_LIBRARIES} ${CMAKE_THREAD_LIBS_INIT}) +add_executable(controller src/teleop_pr2_keyboard_modificato.cpp) +target_link_libraries(controller ${catkin_LIBRARIES} ${CMAKE_THREAD_LIBS_INIT}) diff --git a/ROS - Indigo/pr2_teleop/README.txt b/ROS - Indigo/pr2_teleop/README.txt new file mode 100644 index 0000000..f18344f --- /dev/null +++ b/ROS - Indigo/pr2_teleop/README.txt @@ -0,0 +1 @@ +Modified version of pr2_teleop in order to create a node to teleoperate properly hector_quadrotor (src/teleop_pr2_keyboard_modificato.cpp) diff --git a/ROS - Indigo/pr2_teleop/config/teleop.yaml b/ROS - Indigo/pr2_teleop/config/teleop.yaml new file mode 100644 index 0000000..3fac9fe --- /dev/null +++ b/ROS - Indigo/pr2_teleop/config/teleop.yaml @@ -0,0 +1,29 @@ +# Axes +axis_vx: 3 +axis_vy: 2 +axis_vw: 0 +axis_pan: 0 +axis_tilt: 3 + +# base velocities +max_vw: 0.8 +max_vx: 0.5 +max_vy: 0.5 +max_vw_run: 1.4 +max_vx_run: 1.0 +max_vy_run: 1.0 + +# Head +max_pan: 2.7 +max_tilt: 1.4 +min_tilt: -0.4 +tilt_step: 0.3 +pan_step: 0.3 + +# Buttons have changed for PS3 controller mapping +# With joystick remapper, this works with all joysticks on "/joy" +run_button: 11 +torso_dn_button: 14 +torso_up_button: 12 +head_button: 8 +deadman_button: 10 diff --git a/ROS - Indigo/pr2_teleop/mainpage.dox b/ROS - Indigo/pr2_teleop/mainpage.dox new file mode 100644 index 0000000..50b4e50 --- /dev/null +++ b/ROS - Indigo/pr2_teleop/mainpage.dox @@ -0,0 +1,96 @@ +/** +\mainpage + +\htmlinclude manifest.html + +\b teleop_pr2 teleoperation of a PR2 from keyboard and joystick. Teleops base, head, spine. No arm teleoperation currently. + +Both nodes, teleop_pr2 and teleop_pr2_keyboard, are designed for limited control of a PR-2, like moving it from place to place and transport. This is not designed for immersive control of a PR-2. + +\section rosapi ROS API + +The two nodes, teleop_pr2 and teleop_pr2_keyboard, are designed primarily to drive the base of the PR-2. Teleop_pr2 can also able to drive the spine and head. + +List of nodes: +- \b teleop_pr2 +- \b teleop_pr2_keyboard + +
+ +\subsection teleop_pr2_keyboard teleop_pr2_keyboard + +\b teleop_pr2_keyboard teleoperates a PR-2 base using keyboard commands. +WASD controls X/Y, QE controls yaw. Shift to go faster. + +\subsubsection usage Usage +\verbatim +$ teleop_pr2_keyboard [standard ROS args] +\endverbatim + +Key mappings are printed to screen on startup. + +\subsubsection topic ROS topics + +Subscribes to (name / type): +- None + +Publishes to (name / type): +- \b "cmd_vel/Twist" : velocity to the pr2 base; sent on every keypress. + +\subsubsection parameters ROS parameters + +- \b "walk_vel" : \b double Maximum (walking) velocity +- \b "run_vel" : \b double Maximum (runing) velocity +- \b "yaw_rate" : \b double Maximum (walking) yaw rate +- \b "yaw_run_rate" : \b double Maximum (running) yaw rate + +
+ +\subsection teleop_pr2 teleop_pr2 + +\b teleop_pr2 teleoperate a PR-2 using a joystick. + +X - Forward +Y - Left +Angle Z - Yaw Rate CCW + +\subsubsection usage Usage +\verbatim +$ teleop_pr2 --deadman_no_publish [standard ROS args] +\endverbatim + +"--deadman_no_publish" is optional. If set, the node will only publish if the deadman is depressed. + +\subsubsection topic ROS topics + +Subscribes to (name / type): +- \b "joy/Joy" : ROS joystick topic + +Publishes to (name / type): +- \b "cmd_vel/Twist" : velocity to the pr2 base, sent on every keypress. +- \b "torso_lift_controller/set_command / Float64" : Velocity to PR2 torso (publishes only if torso_button param set) +- \b "head_controller/command / JointStates" : Position commands to PR-2 head (publishes only if head_button param set) + +\subsubsection parameters ROS parameters +- \b "max_vx" : \b double Maximum (walking) X velocity +- \b "max_vy" : \b double Maximum (walking) Y velocity +- \b "max_vw" : \b double Maximum (walking) Z angular velocity + +- \b "max_vx_run" : \b double Maximum (running) X velocity +- \b "max_vy_run" : \b double Maximum (running) Y velocity +- \b "max_vw_run" : \b double Maximum (running) Z angular velocity + +- \b "max_pan" : \b double Maximum head pan command (min is -1 * max) +- \b "max_tilt" : \b double Maximum head tilt command +- \b "min_tilt" : \b double Minimum head tilt command + +- \b "tilt_step" : \b double Head tilt command increment. Position command is tilt_step * tilt_axis +- \b "pan_step" : \b double Head pan command increment. Position command is pan_step * pan_axis + +- \b "deadman_button" : \b int Button that enables joystick commands. No commands will work without deadman button depressed +- \b "run_button" : \b int Base moves at maximum of "run" velocities when depressed. +- \b "torso_dn_button" : \b int Depress to command torso down +- \b "torso_up_button" : \b int Depress to command torso up +- \b "head_button" : \b int Depress to command head + +*/ diff --git a/ROS - Indigo/pr2_teleop/manifest.xml b/ROS - Indigo/pr2_teleop/manifest.xml new file mode 100644 index 0000000..e26186f --- /dev/null +++ b/ROS - Indigo/pr2_teleop/manifest.xml @@ -0,0 +1,22 @@ + + + This package contains launch files for starting joystick or + keyboard-based teleoperation (remote control) of the PR2. + + Kevin Watts + BSD + http://ros.org/wiki/pr2_teleop + + + + + + + + + + + + + + diff --git a/ROS - Indigo/pr2_teleop/package.xml b/ROS - Indigo/pr2_teleop/package.xml new file mode 100644 index 0000000..4cc1eda --- /dev/null +++ b/ROS - Indigo/pr2_teleop/package.xml @@ -0,0 +1,23 @@ + + + pr2_teleop + 0.0.0 + + This package contains launch files for starting joystick or + keyboard-based teleoperation (remote control) of the PR2. + + Alessio + Alessio + BSD + http://ros.org/wiki/pr2_teleop + catkin + std_msgs + geometry_msgs + sensor_msgs + pr2_controllers_msgs + roscpp + topic_tools + actionlib + rospy + tf + diff --git a/ROS - Indigo/pr2_teleop/src/teleop_gripper.cpp b/ROS - Indigo/pr2_teleop/src/teleop_gripper.cpp new file mode 100644 index 0000000..f70c992 --- /dev/null +++ b/ROS - Indigo/pr2_teleop/src/teleop_gripper.cpp @@ -0,0 +1,104 @@ +/* + * teleop_pr2 + * Copyright (c) 2008, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include + +class TeleopGripper +{ +public: + TeleopGripper() + { + ros::NodeHandle private_nh_("~"); + + private_nh_.param("open_position", open_cmd_.position, 0.08); + private_nh_.param("open_max_effort", open_cmd_.max_effort, -1.0); + + private_nh_.param("close_position", close_cmd_.position, -100.00); + private_nh_.param("close_max_effort", close_cmd_.max_effort, -1.0); + + private_nh_.param("open_button", open_button_, 1); + private_nh_.param("close_button", close_button_, 2); + + pub_ = nh_.advertise("command", 1, false); + sub_ = nh_.subscribe("joy", 1, &TeleopGripper::joyCallback, this); + + ROS_DEBUG("teleop_gripper started"); + } + + void joyCallback(const sensor_msgs::JoyConstPtr& joy) + { + ROS_DEBUG("Got a joy msg"); + if ((int) joy->buttons.size() <= open_button_ || + (int) joy->buttons.size() <= close_button_ || + open_button_ < 0 || + close_button_ < 0) + { + ROS_ERROR("Array lookup error: Joystick message has %u elems. Open Index [%u]. Close Index [%u]", (unsigned int)joy->buttons.size(), open_button_, close_button_); + return; + } + + ROS_DEBUG("open: Buttons[%u] = %u", open_button_, joy->buttons[open_button_]); + + if (joy->buttons[open_button_] == 1) + { + pub_.publish(open_cmd_); + ROS_DEBUG("Opening"); + } + else if (joy->buttons[close_button_] == 1) + { + pub_.publish(close_cmd_); + ROS_DEBUG("Closing"); + } + } + +private: + ros::NodeHandle nh_; + ros::Publisher pub_; + ros::Subscriber sub_; + + int close_button_; + int open_button_; + + + pr2_controllers_msgs::Pr2GripperCommand open_cmd_; + pr2_controllers_msgs::Pr2GripperCommand close_cmd_; +}; + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "teleop_gripper"); + + TeleopGripper teleop_gripper; + + ros::spin(); + +} diff --git a/ROS - Indigo/pr2_teleop/src/teleop_pr2.cpp b/ROS - Indigo/pr2_teleop/src/teleop_pr2.cpp new file mode 100644 index 0000000..2e3a427 --- /dev/null +++ b/ROS - Indigo/pr2_teleop/src/teleop_pr2.cpp @@ -0,0 +1,414 @@ +/* + * teleop_pr2 + * Copyright (c) 2008, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +///\author Kevin Watts +///\brief Converts joystick commands on /joy to commands to PR2 base, spine, head + +#include +#include +#include +#include +#include +#include "ros/ros.h" +#include "sensor_msgs/Joy.h" +#include "geometry_msgs/Twist.h" +#include "sensor_msgs/JointState.h" +#include "trajectory_msgs/JointTrajectory.h" +#include "pr2_controllers_msgs/JointTrajectoryControllerState.h" +#include "topic_tools/MuxSelect.h" +#include "std_msgs/String.h" + +#include "std_msgs/Float64.h" + +#define TORSO_TOPIC "torso_controller/command" +#define HEAD_TOPIC "head_traj_controller/command" +const int PUBLISH_FREQ = 20; + +using namespace std; + +class TeleopPR2 +{ + public: + geometry_msgs::Twist cmd; + double min_torso, max_torso; + double req_torso_vel, torso_step; + //joy::Joy joy; + double req_vx, req_vy, req_vw, req_torso, req_pan, req_tilt; + double req_tilt_vel, req_pan_vel; + double max_vx, max_vy, max_vw, max_vx_run, max_vy_run, max_vw_run; + double max_pan, max_tilt, min_tilt, pan_step, tilt_step; + int axis_vx, axis_vy, axis_vw, axis_pan, axis_tilt; + int deadman_button, run_button, torso_dn_button, torso_up_button, head_button; + bool deadman_no_publish_, torso_publish_, head_publish_; + + bool deadman_, cmd_head; + bool use_mux_, last_deadman_; + std::string last_selected_topic_; + + ros::Time last_recieved_joy_message_time_; + ros::Duration joy_msg_timeout_; + + ros::NodeHandle n_, n_private_; + ros::Publisher vel_pub_; + ros::Publisher head_pub_; + ros::Publisher torso_pub_; + ros::Subscriber joy_sub_; + ros::Subscriber torso_state_sub_; + ros::ServiceClient mux_client_; + + TeleopPR2(bool deadman_no_publish = false) : + max_vx(0.6), max_vy(0.6), max_vw(0.8), + max_vx_run(0.6), max_vy_run(0.6), max_vw_run(0.8), + max_pan(2.7), max_tilt(1.4), min_tilt(-0.4), + pan_step(0.02), tilt_step(0.015), + deadman_no_publish_(deadman_no_publish), + torso_publish_(false), head_publish_(false), + deadman_(false), cmd_head(false), + use_mux_(false), last_deadman_(false), + n_private_("~") + { } + + void init() + { + cmd.linear.x = cmd.linear.y = cmd.angular.z = 0; + req_pan = req_tilt = 0; + req_torso = 0.0; + req_torso_vel = 0.0; + + //parameters for interaction with a mux on cmd_vel topics + n_private_.param("use_mux", use_mux_, false); + + n_private_.param("max_vx", max_vx, max_vx); + n_private_.param("max_vy", max_vy, max_vy); + n_private_.param("max_vw", max_vw, max_vw); + + // Set max speed while running + n_private_.param("max_vx_run", max_vx_run, max_vx_run); + n_private_.param("max_vy_run", max_vy_run, max_vy_run); + n_private_.param("max_vw_run", max_vw_run, max_vw_run); + + // Head pan/tilt parameters + n_private_.param("max_pan", max_pan, max_pan); + n_private_.param("max_tilt", max_tilt, max_tilt); + n_private_.param("min_tilt", min_tilt, min_tilt); + + n_private_.param("tilt_step", tilt_step, tilt_step); + n_private_.param("pan_step", pan_step, pan_step); + + n_private_.param("axis_pan", axis_pan, 0); + n_private_.param("axis_tilt", axis_tilt, 2); + + n_private_.param("axis_vx", axis_vx, 3); + n_private_.param("axis_vw", axis_vw, 0); + n_private_.param("axis_vy", axis_vy, 2); + + n_private_.param("torso_step", torso_step, 0.01); + n_private_.param("min_torso", min_torso, 0.0); + n_private_.param("max_torso", max_torso, 0.3); + + n_private_.param("deadman_button", deadman_button, 0); + n_private_.param("run_button", run_button, 0); + n_private_.param("torso_dn_button", torso_dn_button, 0); + n_private_.param("torso_up_button", torso_up_button, 0); + n_private_.param("head_button", head_button, 0); + + double joy_msg_timeout; + n_private_.param("joy_msg_timeout", joy_msg_timeout, 0.5); //default to 0.5 seconds timeout + if (joy_msg_timeout <= 0) + { + joy_msg_timeout_ = ros::Duration().fromSec(9999999);//DURATION_MAX; + ROS_DEBUG("joy_msg_timeout <= 0 -> no timeout"); + } + else + { + joy_msg_timeout_.fromSec(joy_msg_timeout); + ROS_DEBUG("joy_msg_timeout: %.3f", joy_msg_timeout_.toSec()); + } + + ROS_DEBUG("max_vx: %.3f m/s\n", max_vx); + ROS_DEBUG("max_vy: %.3f m/s\n", max_vy); + ROS_DEBUG("max_vw: %.3f deg/s\n", max_vw*180.0/M_PI); + + ROS_DEBUG("max_vx_run: %.3f m/s\n", max_vx_run); + ROS_DEBUG("max_vy_run: %.3f m/s\n", max_vy_run); + ROS_DEBUG("max_vw_run: %.3f deg/s\n", max_vw_run*180.0/M_PI); + + ROS_DEBUG("tilt step: %.3f rad\n", tilt_step); + ROS_DEBUG("pan step: %.3f rad\n", pan_step); + + ROS_DEBUG("axis_vx: %d\n", axis_vx); + ROS_DEBUG("axis_vy: %d\n", axis_vy); + ROS_DEBUG("axis_vw: %d\n", axis_vw); + ROS_DEBUG("axis_pan: %d\n", axis_pan); + ROS_DEBUG("axis_tilt: %d\n", axis_tilt); + + ROS_DEBUG("deadman_button: %d\n", deadman_button); + ROS_DEBUG("run_button: %d\n", run_button); + ROS_DEBUG("torso_dn_button: %d\n", torso_dn_button); + ROS_DEBUG("torso_up_button: %d\n", torso_up_button); + ROS_DEBUG("head_button: %d\n", head_button); + ROS_DEBUG("joy_msg_timeout: %f\n", joy_msg_timeout); + + if (torso_dn_button != 0 && torso_up_button != 0) + { + torso_publish_ = true; + torso_pub_ = n_.advertise(TORSO_TOPIC, 1); + } + + if (head_button != 0) + { + head_pub_ = n_.advertise(HEAD_TOPIC, 1); + head_publish_ = true; + } + + vel_pub_ = n_.advertise("cmd_vel", 1); + + joy_sub_ = n_.subscribe("joy", 10, &TeleopPR2::joy_cb, this); + torso_state_sub_ = n_.subscribe("torso_controller/state", 1, &TeleopPR2::torsoCB, this); + + //if we're going to use the mux, then we'll subscribe to state changes on the mux + if(use_mux_){ + ros::NodeHandle mux_nh("mux"); + mux_client_ = mux_nh.serviceClient("select"); + } + } + + ~TeleopPR2() { } + + /** Callback for joy topic **/ + void joy_cb(const sensor_msgs::Joy::ConstPtr& joy_msg) + { + //Record this message reciept + last_recieved_joy_message_time_ = ros::Time::now(); + + deadman_ = (((unsigned int)deadman_button < joy_msg->buttons.size()) && joy_msg->buttons[deadman_button]); + + if (!deadman_) + return; + + cmd_head = (((unsigned int)head_button < joy_msg->buttons.size()) && joy_msg->buttons[head_button] && head_publish_); + + // Base + bool running = (((unsigned int)run_button < joy_msg->buttons.size()) && joy_msg->buttons[run_button]); + double vx = running ? max_vx_run : max_vx; + double vy = running ? max_vy_run : max_vy; + double vw = running ? max_vw_run : max_vw; + + if((axis_vx >= 0) && (((unsigned int)axis_vx) < joy_msg->axes.size()) && !cmd_head) + req_vx = joy_msg->axes[axis_vx] * vx; + else + req_vx = 0.0; + if((axis_vy >= 0) && (((unsigned int)axis_vy) < joy_msg->axes.size()) && !cmd_head) + req_vy = joy_msg->axes[axis_vy] * vy; + else + req_vy = 0.0; + if((axis_vw >= 0) && (((unsigned int)axis_vw) < joy_msg->axes.size()) && !cmd_head) + req_vw = joy_msg->axes[axis_vw] * vw; + else + req_vw = 0.0; + + // Enforce max/mins for velocity + // Joystick should be [-1, 1], but it might not be + req_vx = max(min(req_vx, vx), -vx); + req_vy = max(min(req_vy, vy), -vy); + req_vw = max(min(req_vw, vw), -vw); + + // Head + // Update commanded position by how joysticks moving + // Don't add commanded position if deadman off + if (deadman_ && cmd_head) + { + if (axis_pan >= 0 && axis_pan < (int)joy_msg->axes.size()) + { + req_pan_vel = joy_msg->axes[axis_pan] * pan_step; + } + + if (axis_tilt >= 0 && axis_tilt < (int)joy_msg->axes.size()) + { + req_tilt_vel = joy_msg->axes[axis_tilt] * tilt_step; + } + } + + // Torso + bool down = (((unsigned int)torso_dn_button < joy_msg->buttons.size()) && joy_msg->buttons[torso_dn_button]); + bool up = (((unsigned int)torso_up_button < joy_msg->buttons.size()) && joy_msg->buttons[torso_up_button]); + + // Bring torso up/down + if (down && !up) + req_torso_vel = -torso_step; + else if (up && !down) + req_torso_vel = torso_step; + else + req_torso_vel = 0; + } + + + void send_cmd_vel() + { + if(deadman_ && + last_recieved_joy_message_time_ + joy_msg_timeout_ > ros::Time::now()) + { + //check if we need to switch the mux to our topic for teleop + if(use_mux_ && !last_deadman_){ + topic_tools::MuxSelect select_srv; + select_srv.request.topic = vel_pub_.getTopic(); + if(mux_client_.call(select_srv)){ + last_selected_topic_ = select_srv.response.prev_topic; + ROS_DEBUG("Setting mux to %s for teleop", select_srv.request.topic.c_str()); + } + else{ + ROS_ERROR("Failed to call select service %s on mux. Are you sure that it is up and connected correctly to the teleop node?", mux_client_.getService().c_str()); + } + } + + // Base + cmd.linear.x = req_vx; + cmd.linear.y = req_vy; + cmd.angular.z = req_vw; + vel_pub_.publish(cmd); + + // Torso + if (torso_publish_) + { + double dt = 1.0/double(PUBLISH_FREQ); + double horizon = 5.0 * dt; + + trajectory_msgs::JointTrajectory traj; + traj.header.stamp = ros::Time::now() + ros::Duration(0.01); + traj.joint_names.push_back("torso_lift_joint"); + traj.points.resize(1); + traj.points[0].positions.push_back(req_torso + req_torso_vel * horizon); + traj.points[0].velocities.push_back(req_torso_vel); + traj.points[0].time_from_start = ros::Duration(horizon); + torso_pub_.publish(traj); + + // Updates the current positions + req_torso += req_torso_vel * dt; + req_torso = max(min(req_torso, max_torso), min_torso); + } + + // Head + if (cmd_head && head_publish_) + { + double dt = 1.0/double(PUBLISH_FREQ); + double horizon = 3.0 * dt; + + trajectory_msgs::JointTrajectory traj; + traj.header.stamp = ros::Time::now() + ros::Duration(0.01); + traj.joint_names.push_back("head_pan_joint"); + traj.joint_names.push_back("head_tilt_joint"); + traj.points.resize(1); + traj.points[0].positions.push_back(req_pan + req_pan_vel * horizon); + traj.points[0].velocities.push_back(req_pan_vel); + traj.points[0].positions.push_back(req_tilt + req_tilt_vel * horizon); + traj.points[0].velocities.push_back(req_tilt_vel); + traj.points[0].time_from_start = ros::Duration(horizon); + head_pub_.publish(traj); + + // Updates the current positions + req_pan += req_pan_vel * dt; + req_pan = max(min(req_pan, max_pan), -max_pan); + req_tilt += req_tilt_vel * dt; + req_tilt = max(min(req_tilt, max_tilt), min_tilt); + } + + if (req_torso != 0) + fprintf(stdout,"teleop_base:: %f, %f, %f. Head:: %f, %f. Torso cmd: %f.\n", + cmd.linear.x, cmd.linear.y, cmd.angular.z, req_pan, req_tilt, req_torso_vel); + else + fprintf(stdout,"teleop_base:: %f, %f, %f. Head:: %f, %f\n", + cmd.linear.x ,cmd.linear.y, cmd.angular.z, req_pan, req_tilt); + } + else + { + //make sure to set the mux back to whatever topic it was on when we grabbed it if the deadman has just toggled + if(use_mux_ && last_deadman_){ + topic_tools::MuxSelect select_srv; + select_srv.request.topic = last_selected_topic_; + if(mux_client_.call(select_srv)){ + ROS_DEBUG("Setting mux back to %s", last_selected_topic_.c_str()); + } + else{ + ROS_ERROR("Failed to call select service %s on mux. Are you sure that it is up and connected correctly to the teleop node?", mux_client_.getService().c_str()); + } + } + + // Publish zero commands iff deadman_no_publish is false + cmd.linear.x = cmd.linear.y = cmd.angular.z = 0; + if (!deadman_no_publish_) + { + // Base + vel_pub_.publish(cmd); + } + } + + //make sure we store the state of our last deadman + last_deadman_ = deadman_; + } + + void torsoCB(const pr2_controllers_msgs::JointTrajectoryControllerState::ConstPtr &msg) + { + double xd = req_torso; + const double A = 0.003; + if (fabs(msg->actual.positions[0] - xd) > A*1.001) + { + req_torso = min(max(msg->actual.positions[0] - A, xd), msg->actual.positions[0] + A); + } + } +}; + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "teleop_pr2"); + const char* opt_no_publish = "--deadman_no_publish"; + + bool no_publish = false; + for(int i=1;i nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +// Author: Kevin Watts + +#include +#include +#include +#include +#include + +#include +#include + +#define KEYCODE_A 0x61 +#define KEYCODE_D 0x64 +#define KEYCODE_S 0x73 +#define KEYCODE_W 0x77 +#define KEYCODE_Q 0x71 +#define KEYCODE_E 0x65 + +#define KEYCODE_A_CAP 0x41 +#define KEYCODE_D_CAP 0x44 +#define KEYCODE_S_CAP 0x53 +#define KEYCODE_W_CAP 0x57 +#define KEYCODE_Q_CAP 0x51 +#define KEYCODE_E_CAP 0x45 + +class TeleopPR2Keyboard +{ + private: + double walk_vel, run_vel, yaw_rate, yaw_rate_run; + geometry_msgs::Twist cmd; + + ros::NodeHandle n_; + ros::Publisher vel_pub_; + + public: + void init() + { + cmd.linear.x = cmd.linear.y = cmd.angular.z = 0; + + vel_pub_ = n_.advertise("cmd_vel", 1); + + ros::NodeHandle n_private("~"); + n_private.param("walk_vel", walk_vel, 0.5); + n_private.param("run_vel", run_vel, 1.0); + n_private.param("yaw_rate", yaw_rate, 1.0); + n_private.param("yaw_run_rate", yaw_rate_run, 1.5); + + } + + ~TeleopPR2Keyboard() { } + void keyboardLoop(); + +}; + +int kfd = 0; +struct termios cooked, raw; + +void quit(int sig) +{ + tcsetattr(kfd, TCSANOW, &cooked); + exit(0); +} + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "pr2_base_keyboard"); + + TeleopPR2Keyboard tpk; + tpk.init(); + + signal(SIGINT,quit); + + tpk.keyboardLoop(); + + return(0); +} + +void TeleopPR2Keyboard::keyboardLoop() +{ + char c; + bool dirty=false; + + // get the console in raw mode + tcgetattr(kfd, &cooked); + memcpy(&raw, &cooked, sizeof(struct termios)); + raw.c_lflag &=~ (ICANON | ECHO); + // Setting a new line, then end of file + raw.c_cc[VEOL] = 1; + raw.c_cc[VEOF] = 2; + tcsetattr(kfd, TCSANOW, &raw); + + puts("Reading from keyboard"); + puts("---------------------------"); + puts("Use 'WASD' to translate"); + puts("Use 'QE' to yaw"); + puts("Press 'Shift' to run"); + + + for(;;) + { + // get the next event from the keyboard + if(read(kfd, &c, 1) < 0) + { + perror("read():"); + exit(-1); + } + + cmd.linear.x = cmd.linear.y = cmd.angular.z = 0; + + switch(c) + { + // Walking + case KEYCODE_W: + cmd.linear.x = walk_vel; + dirty = true; + break; + case KEYCODE_S: + cmd.linear.x = - walk_vel; + dirty = true; + break; + case KEYCODE_A: + cmd.linear.y = walk_vel; + dirty = true; + break; + case KEYCODE_D: + cmd.linear.y = - walk_vel; + dirty = true; + break; + case KEYCODE_Q: + cmd.angular.z = yaw_rate; + dirty = true; + break; + case KEYCODE_E: + cmd.angular.z = - yaw_rate; + dirty = true; + break; + + // Running + case KEYCODE_W_CAP: + cmd.linear.x = run_vel; + dirty = true; + break; + case KEYCODE_S_CAP: + cmd.linear.x = - run_vel; + dirty = true; + break; + case KEYCODE_A_CAP: + cmd.linear.y = run_vel; + dirty = true; + break; + case KEYCODE_D_CAP: + cmd.linear.y = - run_vel; + dirty = true; + break; + case KEYCODE_Q_CAP: + cmd.angular.z = yaw_rate_run; + dirty = true; + break; + case KEYCODE_E_CAP: + cmd.angular.z = - yaw_rate_run; + dirty = true; + break; + } + + + if (dirty == true) + { + vel_pub_.publish(cmd); + } + + + } +} diff --git a/ROS - Indigo/pr2_teleop/src/teleop_pr2_keyboard.cpp~ b/ROS - Indigo/pr2_teleop/src/teleop_pr2_keyboard.cpp~ new file mode 100644 index 0000000..92eb9fb --- /dev/null +++ b/ROS - Indigo/pr2_teleop/src/teleop_pr2_keyboard.cpp~ @@ -0,0 +1,208 @@ +/* + * teleop_pr2_keyboard + * Copyright (c) 2008, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +// Author: Kevin Watts + +#include +#include +#include +#include +#include + +#include +#include + +#define KEYCODE_A 0x61 +#define KEYCODE_D 0x64 +#define KEYCODE_S 0x73 +#define KEYCODE_W 0x77 +#define KEYCODE_Q 0x71 +#define KEYCODE_E 0x65 +#define KEYCODE_Z 0x7A +#define KEYCODE_X 0x78 +#define KEYCODE_F 0x66 + +#define KEYCODE_A_CAP 0x41 +#define KEYCODE_D_CAP 0x44 +#define KEYCODE_S_CAP 0x53 +#define KEYCODE_W_CAP 0x57 +#define KEYCODE_Q_CAP 0x51 +#define KEYCODE_E_CAP 0x45 +#define KEYCODE_Z_CAP 0x5A +#define KEYCODE_X_CAP 0x58 + +class TeleopPR2Keyboard +{ + private: + double walk_vel, run_vel, yaw_rate, yaw_rate_run; + geometry_msgs::Twist cmd; + + ros::NodeHandle n_; + ros::Publisher vel_pub_; + + public: + void init() + { + cmd.linear.x = cmd.linear.y = cmd.angular.z = 0; + + vel_pub_ = n_.advertise("cmd_vel", 1); + + ros::NodeHandle n_private("~"); + n_private.param("walk_vel", walk_vel, 0.5); + n_private.param("run_vel", run_vel, 1.0); + n_private.param("yaw_rate", yaw_rate, 1.0); + n_private.param("yaw_run_rate", yaw_rate_run, 1.5); + + } + + ~TeleopPR2Keyboard() { } + void keyboardLoop(); + +}; + +int kfd = 0; +struct termios cooked, raw; + +void quit(int sig) +{ + tcsetattr(kfd, TCSANOW, &cooked); + exit(0); +} + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "pr2_base_keyboard"); + + TeleopPR2Keyboard tpk; + tpk.init(); + + signal(SIGINT,quit); + + tpk.keyboardLoop(); + + return(0); +} + +void TeleopPR2Keyboard::keyboardLoop() +{ + char c; + bool dirty=false; + + // get the console in raw mode + tcgetattr(kfd, &cooked); + memcpy(&raw, &cooked, sizeof(struct termios)); + raw.c_lflag &=~ (ICANON | ECHO); + // Setting a new line, then end of file + raw.c_cc[VEOL] = 1; + raw.c_cc[VEOF] = 2; + tcsetattr(kfd, TCSANOW, &raw); + + puts("Reading from keyboard"); + puts("---------------------------"); + puts("Use 'WASD' to translate"); + puts("Use 'QE' to yaw"); + puts("Press 'Shift' to run"); + + + for(;;) + { + // get the next event from the keyboard + if(read(kfd, &c, 1) < 0) + { + perror("read():"); + exit(-1); + } + + cmd.linear.x = cmd.linear.y = cmd.angular.z = 0; + + switch(c) + { + // Walking + case KEYCODE_W: + cmd.linear.x = walk_vel; + dirty = true; + break; + case KEYCODE_S: + cmd.linear.x = - walk_vel; + dirty = true; + break; + case KEYCODE_A: + cmd.linear.y = walk_vel; + dirty = true; + break; + case KEYCODE_D: + cmd.linear.y = - walk_vel; + dirty = true; + break; + case KEYCODE_Q: + cmd.angular.z = yaw_rate; + dirty = true; + break; + case KEYCODE_E: + cmd.angular.z = - yaw_rate; + dirty = true; + break; + + // Running + case KEYCODE_W_CAP: + cmd.linear.x = run_vel; + dirty = true; + break; + case KEYCODE_S_CAP: + cmd.linear.x = - run_vel; + dirty = true; + break; + case KEYCODE_A_CAP: + cmd.linear.y = run_vel; + dirty = true; + break; + case KEYCODE_D_CAP: + cmd.linear.y = - run_vel; + dirty = true; + break; + case KEYCODE_Q_CAP: + cmd.angular.z = yaw_rate_run; + dirty = true; + break; + case KEYCODE_E_CAP: + cmd.angular.z = - yaw_rate_run; + dirty = true; + break; + } + + + if (dirty == true) + { + vel_pub_.publish(cmd); + } + + + } +} diff --git a/ROS - Indigo/pr2_teleop/src/teleop_pr2_keyboard_modificato.cpp b/ROS - Indigo/pr2_teleop/src/teleop_pr2_keyboard_modificato.cpp new file mode 100644 index 0000000..bf1764c --- /dev/null +++ b/ROS - Indigo/pr2_teleop/src/teleop_pr2_keyboard_modificato.cpp @@ -0,0 +1,229 @@ +/* + * teleop_pr2_keyboard + * Copyright (c) 2008, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +// Author: Kevin Watts + +#include +#include +#include +#include +#include + +#include +#include + +#define KEYCODE_A 0x61 +#define KEYCODE_D 0x64 +#define KEYCODE_S 0x73 +#define KEYCODE_W 0x77 +#define KEYCODE_Q 0x71 +#define KEYCODE_E 0x65 +#define KEYCODE_Z 0x7A +#define KEYCODE_X 0x78 +#define KEYCODE_F 0x66 + +#define KEYCODE_A_CAP 0x41 +#define KEYCODE_D_CAP 0x44 +#define KEYCODE_S_CAP 0x53 +#define KEYCODE_W_CAP 0x57 +#define KEYCODE_Q_CAP 0x51 +#define KEYCODE_E_CAP 0x45 +#define KEYCODE_Z_CAP 0x5A +#define KEYCODE_X_CAP 0x58 + +class TeleopPR2Keyboard +{ + private: + double walk_vel, run_vel, yaw_rate, yaw_rate_run; + geometry_msgs::Twist cmd; + + ros::NodeHandle n_; + ros::Publisher vel_pub_; + + public: + void init() + { + cmd.linear.x = cmd.linear.y = cmd.angular.z = 0; + + vel_pub_ = n_.advertise("cmd_vel", 1); + + ros::NodeHandle n_private("~"); + n_private.param("walk_vel", walk_vel, 0.5); + n_private.param("run_vel", run_vel, 1.0); + n_private.param("yaw_rate", yaw_rate, 1.0); + n_private.param("yaw_run_rate", yaw_rate_run, 1.5); + + } + + ~TeleopPR2Keyboard() { } + void keyboardLoop(); + +}; + +int kfd = 0; +struct termios cooked, raw; + +void quit(int sig) +{ + tcsetattr(kfd, TCSANOW, &cooked); + exit(0); +} + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "pr2_base_keyboard"); + + TeleopPR2Keyboard tpk; + tpk.init(); + + signal(SIGINT,quit); + + tpk.keyboardLoop(); + + return(0); +} + +void TeleopPR2Keyboard::keyboardLoop() +{ + char c; + bool dirty=false; + + // get the console in raw mode + tcgetattr(kfd, &cooked); + memcpy(&raw, &cooked, sizeof(struct termios)); + raw.c_lflag &=~ (ICANON | ECHO); + // Setting a new line, then end of file + raw.c_cc[VEOL] = 1; + raw.c_cc[VEOF] = 2; + tcsetattr(kfd, TCSANOW, &raw); + + puts("Reading from keyboard"); + puts("---------------------------"); + puts("Use 'WASD' to translate"); + puts("Use 'ZX' for altitude control"); + puts("Use 'QE' to yaw"); + puts("Press 'Shift' to run"); + puts("Press 'F' to stop"); + + + for(;;) + { + // get the next event from the keyboard + if(read(kfd, &c, 1) < 0) + { + perror("read():"); + exit(-1); + } + + cmd.linear.x = cmd.linear.y = cmd.angular.z = cmd.linear.z = 0; + + switch(c) + { + // Walking + case KEYCODE_W: + cmd.linear.x = walk_vel; + dirty = true; + break; + case KEYCODE_S: + cmd.linear.x = - walk_vel; + dirty = true; + break; + case KEYCODE_A: + cmd.linear.y = walk_vel; + dirty = true; + break; + case KEYCODE_D: + cmd.linear.y = - walk_vel; + dirty = true; + break; + case KEYCODE_Q: + cmd.angular.z = yaw_rate; + dirty = true; + break; + case KEYCODE_E: + cmd.angular.z = - yaw_rate; + dirty = true; + break; + case KEYCODE_Z: + cmd.linear.z = walk_vel; + dirty=true; + break; + case KEYCODE_X: + cmd.linear.z = -walk_vel; + dirty=true; + break; + case KEYCODE_F: + dirty=true; + break; + + // Running + case KEYCODE_W_CAP: + cmd.linear.x = run_vel; + dirty = true; + break; + case KEYCODE_S_CAP: + cmd.linear.x = - run_vel; + dirty = true; + break; + case KEYCODE_A_CAP: + cmd.linear.y = run_vel; + dirty = true; + break; + case KEYCODE_D_CAP: + cmd.linear.y = - run_vel; + dirty = true; + break; + case KEYCODE_Q_CAP: + cmd.angular.z = yaw_rate_run; + dirty = true; + break; + case KEYCODE_E_CAP: + cmd.angular.z = - yaw_rate_run; + dirty = true; + break; + case KEYCODE_Z_CAP: + cmd.linear.z = run_vel; + dirty=true; + break; + case KEYCODE_X_CAP: + cmd.linear.z = -run_vel; + dirty=true; + break; + } + + + if (dirty == true) + { + vel_pub_.publish(cmd); + } + + + } +} diff --git a/ROS - Indigo/pr2_teleop/teleop_joystick.launch b/ROS - Indigo/pr2_teleop/teleop_joystick.launch new file mode 100644 index 0000000..05fe51e --- /dev/null +++ b/ROS - Indigo/pr2_teleop/teleop_joystick.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS - Indigo/pr2_teleop/teleop_keyboard.launch b/ROS - Indigo/pr2_teleop/teleop_keyboard.launch new file mode 100644 index 0000000..2311837 --- /dev/null +++ b/ROS - Indigo/pr2_teleop/teleop_keyboard.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/ROS - Indigo/quadrotore2_moveit/.setup_assistant b/ROS - Indigo/quadrotore2_moveit/.setup_assistant new file mode 100644 index 0000000..68c8664 --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/.setup_assistant @@ -0,0 +1,8 @@ +moveit_setup_assistant_config: + URDF: + package: hector_quadrotor_urdf + relative_path: urdf/quadrotore.urdf + SRDF: + relative_path: config/quadrotor.srdf + CONFIG: + generated_timestamp: 1376647235 \ No newline at end of file diff --git a/ROS - Indigo/quadrotore2_moveit/CMakeLists.txt b/ROS - Indigo/quadrotore2_moveit/CMakeLists.txt new file mode 100644 index 0000000..5f70d30 --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/CMakeLists.txt @@ -0,0 +1,9 @@ +cmake_minimum_required(VERSION 2.8.3) +project(quadrotore2_moveit) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ROS - Indigo/quadrotore2_moveit/README.txt b/ROS - Indigo/quadrotore2_moveit/README.txt new file mode 100644 index 0000000..3fa257b --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/README.txt @@ -0,0 +1 @@ +Configuration pack to make moveit control the simulated uav diff --git a/ROS - Indigo/quadrotore2_moveit/README.txt~ b/ROS - Indigo/quadrotore2_moveit/README.txt~ new file mode 100644 index 0000000..e69de29 diff --git a/ROS - Indigo/quadrotore2_moveit/config/bench.config b/ROS - Indigo/quadrotore2_moveit/config/bench.config new file mode 100644 index 0000000..5c4fd01 --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/config/bench.config @@ -0,0 +1,11 @@ +[scene] +name=demonstrated +output=/home/alessio/bench.log +runs=5 + +[plugin] +name=ompl_interface/OMPLPlanner +planners=RRTConnectkConfigDefault +runs=100 + + diff --git a/ROS - Indigo/quadrotore2_moveit/config/configBench.cfg b/ROS - Indigo/quadrotore2_moveit/config/configBench.cfg new file mode 100644 index 0000000..70b381f --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/config/configBench.cfg @@ -0,0 +1,9 @@ +[scene] +name=kitchen +output=/home/alessio/Scrivania/mylog.log +runs=2 + +[plugin] +name=ompl_interface/OMPLPlanner +planners=RRTkConfigDefault RRTConnectkConfigDefault RRTstarkConfigDefault PRMkConfigDefault PRMstarkConfigDefault SBLkConfigDefault ESTkConfigDefault +runs=10 diff --git a/ROS - Indigo/quadrotore2_moveit/config/controllers.yaml b/ROS - Indigo/quadrotore2_moveit/config/controllers.yaml new file mode 100644 index 0000000..43d8655 --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/config/controllers.yaml @@ -0,0 +1,6 @@ +controller_list: + - name: multi_dof_joint_trajectory_action + type: MultiDofFollowJointTrajectory + default: true + joints: + - Base diff --git a/ROS - Indigo/quadrotore2_moveit/config/joint_limits.yaml b/ROS - Indigo/quadrotore2_moveit/config/joint_limits.yaml new file mode 100644 index 0000000..25c246d --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/config/joint_limits.yaml @@ -0,0 +1,6 @@ +joint_limits: + Base: + has_velocity_limits: true + max_velocity: 0.2 + has_acceleration_limits: true + max_acceleration: 0.04 diff --git a/ROS - Indigo/quadrotore2_moveit/config/kinematics.yaml b/ROS - Indigo/quadrotore2_moveit/config/kinematics.yaml new file mode 100644 index 0000000..75046a7 --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/config/kinematics.yaml @@ -0,0 +1,5 @@ +Quadrotore: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 + kinematics_solver_attempts: 3 \ No newline at end of file diff --git a/ROS - Indigo/quadrotore2_moveit/config/ompl_planning.yaml b/ROS - Indigo/quadrotore2_moveit/config/ompl_planning.yaml new file mode 100644 index 0000000..5951b6a --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/config/ompl_planning.yaml @@ -0,0 +1,35 @@ +planner_configs: + SBLkConfigDefault: + type: geometric::SBL + ESTkConfigDefault: + type: geometric::EST + LBKPIECEkConfigDefault: + type: geometric::LBKPIECE + BKPIECEkConfigDefault: + type: geometric::BKPIECE + KPIECEkConfigDefault: + type: geometric::KPIECE + RRTkConfigDefault: + type: geometric::RRT + RRTConnectkConfigDefault: + type: geometric::RRTConnect + RRTstarkConfigDefault: + type: geometric::RRTstar + PRMkConfigDefault: + type: geometric::PRM + PRMstarkConfigDefault: + type: geometric::PRMstar +Quadrotore: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + projection_evaluator: joints(Base) + longest_valid_segment_fraction: 0.05 diff --git a/ROS - Indigo/quadrotore2_moveit/config/quadrotor.srdf b/ROS - Indigo/quadrotore2_moveit/config/quadrotor.srdf new file mode 100644 index 0000000..99cc25d --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/config/quadrotor.srdf @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS - Indigo/quadrotore2_moveit/config/sensors_rgbd.yaml b/ROS - Indigo/quadrotore2_moveit/config/sensors_rgbd.yaml new file mode 100644 index 0000000..5f18a3a --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/config/sensors_rgbd.yaml @@ -0,0 +1,6 @@ +sensors: + - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater + point_cloud_topic: /camera/depth/points + max_range: 6.0 + frame_subsample: 1 + point_subsample: 1 diff --git a/ROS - Indigo/quadrotore2_moveit/launch/default_warehouse_db.launch b/ROS - Indigo/quadrotore2_moveit/launch/default_warehouse_db.launch new file mode 100644 index 0000000..d5ee140 --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/launch/default_warehouse_db.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/ROS - Indigo/quadrotore2_moveit/launch/demo.launch b/ROS - Indigo/quadrotore2_moveit/launch/demo.launch new file mode 100644 index 0000000..10db78c --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/launch/demo.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS - Indigo/quadrotore2_moveit/launch/move_group.launch b/ROS - Indigo/quadrotore2_moveit/launch/move_group.launch new file mode 100644 index 0000000..7451d9c --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/launch/move_group.launch @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS - Indigo/quadrotore2_moveit/launch/moveit.rviz b/ROS - Indigo/quadrotore2_moveit/launch/moveit.rviz new file mode 100644 index 0000000..696efd4 --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/launch/moveit.rviz @@ -0,0 +1,214 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + - /MotionPlanning1/Planning Request1 + - /MotionPlanning1/Planning Metrics1 + - /MotionPlanning1/Planned Path1 + Splitter Ratio: 0.74256 + Tree Height: 272 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + Move Group Namespace: "" + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Attempts: 20 + MoveIt_Planning_Time: 5 + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + Name: MotionPlanning + Planned Path: + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_rgb_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + sonar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: true + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trajectory Topic: /move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + TextHeight: 0.08 + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: Quadrotore + Query Goal State: true + Query Start State: false + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: /move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 0.9 + Scene Color: 50; 230; 50 + Scene Display Time: 0.2 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_rgb_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + sonar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: odom_combined + Frame Rate: 30 + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 14.8619 + Enable Stereo Rendering: + Stereo Eye Separation: 0.06 + Stereo Focal Distance: 1 + Swap Stereo Eyes: false + Value: false + Focal Point: + X: 0.281671 + Y: 2.84392 + Z: 1.65403e-06 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.249797 + Target Frame: base_link + Value: XYOrbit (rviz) + Yaw: 1.76176 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 1060 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + Motion Planning: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002a2000003d4fc0200000005fb000000100044006900730070006c0061007900730100000033000001a1000000d801000005fb0000000800480065006c00700000000342000000bb0000007101000005fb0000000a0056006900650077007300000003b0000000b0000000ab01000005fb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e006701000001d7000002300000017a01000005000004db000003d400000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1920 + X: 1918 + Y: -3 diff --git a/ROS - Indigo/quadrotore2_moveit/launch/moveit_rviz.launch b/ROS - Indigo/quadrotore2_moveit/launch/moveit_rviz.launch new file mode 100644 index 0000000..7d5a14d --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/launch/moveit_rviz.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/ROS - Indigo/quadrotore2_moveit/launch/ompl_planning_pipeline.launch b/ROS - Indigo/quadrotore2_moveit/launch/ompl_planning_pipeline.launch new file mode 100644 index 0000000..e9fab15 --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/launch/ompl_planning_pipeline.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + diff --git a/ROS - Indigo/quadrotore2_moveit/launch/ompl_planning_pipeline.launch~ b/ROS - Indigo/quadrotore2_moveit/launch/ompl_planning_pipeline.launch~ new file mode 100644 index 0000000..e9fab15 --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/launch/ompl_planning_pipeline.launch~ @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + diff --git a/ROS - Indigo/quadrotore2_moveit/launch/plan_and_execute.launch b/ROS - Indigo/quadrotore2_moveit/launch/plan_and_execute.launch new file mode 100644 index 0000000..d9630bb --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/launch/plan_and_execute.launch @@ -0,0 +1,10 @@ + + # The planning and execution components of MoveIt! configured to + # publish the current configuration of the robot (simulated or real) + # and the current state of the world as seen by the planner + + + + # The visualization component of MoveIt! + + diff --git a/ROS - Indigo/quadrotore2_moveit/launch/plan_and_execute.launch~ b/ROS - Indigo/quadrotore2_moveit/launch/plan_and_execute.launch~ new file mode 100644 index 0000000..87bb3d9 --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/launch/plan_and_execute.launch~ @@ -0,0 +1,11 @@ + + # The planning and execution components of MoveIt! configured to + # publish the current configuration of the robot (simulated or real) + # and the current state of the world as seen by the planner + + + + + # The visualization component of MoveIt! + + diff --git a/ROS - Indigo/quadrotore2_moveit/launch/planning_context.launch b/ROS - Indigo/quadrotore2_moveit/launch/planning_context.launch new file mode 100644 index 0000000..8dd8064 --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/launch/planning_context.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ROS - Indigo/quadrotore2_moveit/launch/planning_pipeline.launch b/ROS - Indigo/quadrotore2_moveit/launch/planning_pipeline.launch new file mode 100644 index 0000000..2df89b1 --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/launch/planning_pipeline.launch @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/ROS - Indigo/quadrotore2_moveit/launch/quadrotor_moveit_controller_manager.launch b/ROS - Indigo/quadrotore2_moveit/launch/quadrotor_moveit_controller_manager.launch new file mode 100644 index 0000000..aa4c6e1 --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/launch/quadrotor_moveit_controller_manager.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ROS - Indigo/quadrotore2_moveit/launch/quadrotor_moveit_controller_manager.launch~ b/ROS - Indigo/quadrotore2_moveit/launch/quadrotor_moveit_controller_manager.launch~ new file mode 100644 index 0000000..aa4c6e1 --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/launch/quadrotor_moveit_controller_manager.launch~ @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ROS - Indigo/quadrotore2_moveit/launch/quadrotor_moveit_sensor_manager.launch b/ROS - Indigo/quadrotore2_moveit/launch/quadrotor_moveit_sensor_manager.launch new file mode 100644 index 0000000..2eda3d0 --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/launch/quadrotor_moveit_sensor_manager.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/ROS - Indigo/quadrotore2_moveit/launch/quadrotor_moveit_sensor_manager.launch~ b/ROS - Indigo/quadrotore2_moveit/launch/quadrotor_moveit_sensor_manager.launch~ new file mode 100644 index 0000000..86bab41 --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/launch/quadrotor_moveit_sensor_manager.launch~ @@ -0,0 +1,7 @@ + + + + + + + diff --git a/ROS - Indigo/quadrotore2_moveit/launch/run_benchmark_ompl.launch b/ROS - Indigo/quadrotore2_moveit/launch/run_benchmark_ompl.launch new file mode 100644 index 0000000..9197dce --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/launch/run_benchmark_ompl.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS - Indigo/quadrotore2_moveit/launch/run_benchmark_ompl.launch~ b/ROS - Indigo/quadrotore2_moveit/launch/run_benchmark_ompl.launch~ new file mode 100644 index 0000000..b417bbc --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/launch/run_benchmark_ompl.launch~ @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS - Indigo/quadrotore2_moveit/launch/sensor_manager.launch b/ROS - Indigo/quadrotore2_moveit/launch/sensor_manager.launch new file mode 100644 index 0000000..c95799e --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/launch/sensor_manager.launch @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/ROS - Indigo/quadrotore2_moveit/launch/setup_assistant.launch b/ROS - Indigo/quadrotore2_moveit/launch/setup_assistant.launch new file mode 100644 index 0000000..05303c4 --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/launch/setup_assistant.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/ROS - Indigo/quadrotore2_moveit/launch/start.launch b/ROS - Indigo/quadrotore2_moveit/launch/start.launch new file mode 100644 index 0000000..914436e --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/launch/start.launch @@ -0,0 +1,20 @@ + + + + + + + + + + + + + + + + + + diff --git a/ROS - Indigo/quadrotore2_moveit/launch/trajectory_execution.launch b/ROS - Indigo/quadrotore2_moveit/launch/trajectory_execution.launch new file mode 100644 index 0000000..4d1a004 --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/launch/trajectory_execution.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ROS - Indigo/quadrotore2_moveit/launch/trajectory_execution.launch~ b/ROS - Indigo/quadrotore2_moveit/launch/trajectory_execution.launch~ new file mode 100644 index 0000000..c9ef6c3 --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/launch/trajectory_execution.launch~ @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ROS - Indigo/quadrotore2_moveit/launch/warehouse.launch b/ROS - Indigo/quadrotore2_moveit/launch/warehouse.launch new file mode 100644 index 0000000..3c4a533 --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/ROS - Indigo/quadrotore2_moveit/launch/warehouse_settings.launch b/ROS - Indigo/quadrotore2_moveit/launch/warehouse_settings.launch new file mode 100644 index 0000000..d11aaeb --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/launch/warehouse_settings.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/ROS - Indigo/quadrotore2_moveit/package.xml b/ROS - Indigo/quadrotore2_moveit/package.xml new file mode 100644 index 0000000..7570b58 --- /dev/null +++ b/ROS - Indigo/quadrotore2_moveit/package.xml @@ -0,0 +1,29 @@ + + + quadrotore2_moveit + 0.2.0 + + An automatically generated package with all the configuration and launch files for using the quadrotor with the MoveIt Motion Planning Framework + + MoveIt Setup Assistant + MoveIt Setup Assistant + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit_setup_assistant/issues + https://github.com/ros-planning/moveit_setup_assistant + + moveit_ros_move_group + moveit_planners_ompl + moveit_ros_visualization + joint_state_publisher + robot_state_publisher + xacro + hector_quadrotor_urdf + hector_quadrotor_urdf + + + catkin + + diff --git a/ROS - Indigo/sh files/1-simulator.sh b/ROS - Indigo/sh files/1-simulator.sh new file mode 100644 index 0000000..f26e799 --- /dev/null +++ b/ROS - Indigo/sh files/1-simulator.sh @@ -0,0 +1,6 @@ +#!/bin/bash +#roslaunch hector_gazebo_worlds wg_collada_realtime.launch & +roslaunch autonomous_quadrotor mySpawn_quadrotor_with_kinect.launch + + + diff --git a/ROS - Indigo/sh files/2-controller.sh b/ROS - Indigo/sh files/2-controller.sh new file mode 100644 index 0000000..f3796bb --- /dev/null +++ b/ROS - Indigo/sh files/2-controller.sh @@ -0,0 +1,3 @@ +#!/bin/bash +rosrun action_controller action_controller + diff --git a/ROS - Indigo/sh files/3-planner.sh b/ROS - Indigo/sh files/3-planner.sh new file mode 100644 index 0000000..b6cbf74 --- /dev/null +++ b/ROS - Indigo/sh files/3-planner.sh @@ -0,0 +1,4 @@ +#!/bin/bash +roslaunch quadrotore2_moveit plan_and_execute.launch & +sleep 5 +rosrun dynamic_reconfigure dynparam set /move_group/trajectory_execution execution_duration_monitoring false diff --git a/ROS - Indigo/sh files/4-teleOp.sh b/ROS - Indigo/sh files/4-teleOp.sh new file mode 100644 index 0000000..e881773 --- /dev/null +++ b/ROS - Indigo/sh files/4-teleOp.sh @@ -0,0 +1 @@ +rosrun pr2_teleop controller diff --git a/ROS-groovy/action_controller/.cproject b/ROS-groovy/action_controller/.cproject new file mode 100644 index 0000000..b4df457 --- /dev/null +++ b/ROS-groovy/action_controller/.cproject @@ -0,0 +1,696 @@ 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+true +false + + +/usr/bin/make +-j4 +src/gtest-all.cc.i +true +false + + +/usr/bin/make +-j4 +src/gtest-all.cc.s +true +false + + +/usr/bin/make +-j4 +src/gtest_main.cc.o +true +false + + +/usr/bin/make +-j4 +src/gtest_main.cc.i +true +false + + +/usr/bin/make +-j4 +src/gtest_main.cc.s +true +false + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS-groovy/action_controller/.project b/ROS-groovy/action_controller/.project new file mode 100644 index 0000000..6a4841d --- /dev/null +++ b/ROS-groovy/action_controller/.project @@ -0,0 +1,232 @@ + + + action_controller-RelWithDebInfo@action_controller + + + + + + org.eclipse.cdt.make.core.makeBuilder + clean,full,incremental, + + + org.eclipse.cdt.make.core.cleanBuildTarget + clean + + + org.eclipse.cdt.make.core.enableCleanBuild + true + + + org.eclipse.cdt.make.core.append_environment + true + + + org.eclipse.cdt.make.core.stopOnError + true + + + org.eclipse.cdt.make.core.enabledIncrementalBuild + true + + + org.eclipse.cdt.make.core.build.command + /usr/bin/make + + + org.eclipse.cdt.make.core.contents + org.eclipse.cdt.make.core.activeConfigSettings + + + org.eclipse.cdt.make.core.build.target.inc + all + + + org.eclipse.cdt.make.core.build.arguments + + + + org.eclipse.cdt.make.core.buildLocation + /home/alessio/RosWorkspace/sandbox/action_controller + + + org.eclipse.cdt.make.core.useDefaultBuildCmd + false + + + org.eclipse.cdt.make.core.environment + VERBOSE=1|ROS_ROOT=/opt/ros/groovy/share/ros|ROS_PACKAGE_PATH=/home/alessio/RosWorkspace/sandbox:/opt/ros/groovy/share:/opt/ros/groovy/stacks|PYTHONPATH=/opt/ros/groovy/lib/python2.7/dist-packages|PATH=/opt/ros/groovy/bin:/usr/lib/lightdm/lightdm:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games|LD_LIBRARY_PATH=/opt/ros/groovy/lib|PKG_CONFIG_PATH=/opt/ros/groovy/lib/pkgconfig|CMAKE_PREFIX_PATH=/opt/ros/groovy| + + + org.eclipse.cdt.make.core.enableFullBuild + true + + + org.eclipse.cdt.make.core.build.target.auto + all + + + org.eclipse.cdt.make.core.enableAutoBuild + false + + + org.eclipse.cdt.make.core.build.target.clean + clean + + + org.eclipse.cdt.make.core.fullBuildTarget + all + + + org.eclipse.cdt.make.core.buildArguments + + + + org.eclipse.cdt.make.core.build.location + /home/alessio/RosWorkspace/sandbox/action_controller + + + org.eclipse.cdt.make.core.autoBuildTarget + all + + + org.eclipse.cdt.core.errorOutputParser + org.eclipse.cdt.core.MakeErrorParser;org.eclipse.cdt.core.GCCErrorParser;org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GLDErrorParser; + + + + + org.eclipse.cdt.make.core.ScannerConfigBuilder + + + + + + org.eclipse.cdt.core.ccnature + org.eclipse.cdt.make.core.makeNature + org.eclipse.cdt.make.core.ScannerConfigNature + org.eclipse.cdt.core.cnature + + + + [Subprojects] + 2 + virtual:/virtual + + + [Subprojects]/gtest + 2 + /usr/src/gtest + + + [Targets] + 2 + virtual:/virtual + + + [Targets]/[exe] actionController + 2 + virtual:/virtual + + + [Targets]/[exe] actionController/ + 2 + virtual:/virtual + + + [Targets]/[exe] actionController/Source Files + 2 + virtual:/virtual + + + [Targets]/[exe] actionController/Source Files/actionController.cpp + 1 + /home/alessio/RosWorkspace/sandbox/action_controller/src/actionController.cpp + + + [Targets]/[exe] actionController/Header Files + 2 + virtual:/virtual + + + [Targets]/[exe] actionController/CMake Rules + 2 + virtual:/virtual + + + [Targets]/[exe] actionController/Resources + 2 + virtual:/virtual + + + [Targets]/[lib] gtest + 2 + virtual:/virtual + + + [Targets]/[lib] gtest/ + 2 + virtual:/virtual + + + [Targets]/[lib] gtest/Source Files + 2 + virtual:/virtual + + + [Targets]/[lib] gtest/Source Files/gtest-all.cc + 1 + /usr/src/gtest/src/gtest-all.cc + + + [Targets]/[lib] gtest/Header Files + 2 + virtual:/virtual + + + [Targets]/[lib] gtest/CMake Rules + 2 + virtual:/virtual + + + [Targets]/[lib] gtest/Resources + 2 + virtual:/virtual + + + [Targets]/[lib] gtest_main + 2 + virtual:/virtual + + + [Targets]/[lib] gtest_main/ + 2 + virtual:/virtual + + + [Targets]/[lib] gtest_main/Source Files + 2 + virtual:/virtual + + + [Targets]/[lib] gtest_main/Source Files/gtest_main.cc + 1 + /usr/src/gtest/src/gtest_main.cc + + + [Targets]/[lib] gtest_main/Header Files + 2 + virtual:/virtual + + + [Targets]/[lib] gtest_main/CMake Rules + 2 + virtual:/virtual + + + [Targets]/[lib] gtest_main/Resources + 2 + virtual:/virtual + + + diff --git a/ROS-groovy/action_controller/.pydevproject b/ROS-groovy/action_controller/.pydevproject new file mode 100644 index 0000000..cae227b --- /dev/null +++ b/ROS-groovy/action_controller/.pydevproject @@ -0,0 +1,29 @@ + + + + +Default +python 2.6 + +/home/alessio/RosWorkspace/sandbox/action_controller/src +/opt/ros/groovy/share/mk +/opt/ros/groovy/lib/python2.7/dist-packages +/usr/lib/python2.7 +/usr/lib/python2.7/plat-linux2 +/usr/lib/python2.7/lib-tk +/usr/lib/python2.7/lib-dynload +/usr/local/lib/python2.7/dist-packages +/usr/lib/python2.7/dist-packages +/usr/lib/python2.7/dist-packages/PIL +/usr/lib/python2.7/dist-packages/gst-0.10 +/usr/lib/python2.7/dist-packages/gtk-2.0 +/usr/lib/pymodules/python2.7 +/usr/lib/python2.7/dist-packages/ubuntu-sso-client +/usr/lib/python2.7/dist-packages/ubuntuone-client +/usr/lib/python2.7/dist-packages/ubuntuone-control-panel +/usr/lib/python2.7/dist-packages/ubuntuone-couch +/usr/lib/python2.7/dist-packages/ubuntuone-installer +/usr/lib/python2.7/dist-packages/ubuntuone-storage-protocol +/usr/lib/python2.7/dist-packages/wx-2.8-gtk2-unicode + + diff --git a/ROS-groovy/action_controller/CMakeLists.txt b/ROS-groovy/action_controller/CMakeLists.txt new file mode 100644 index 0000000..1d32647 --- /dev/null +++ b/ROS-groovy/action_controller/CMakeLists.txt @@ -0,0 +1,35 @@ +cmake_minimum_required(VERSION 2.4.6) +include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) + +# Set the build type. Options are: +# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage +# Debug : w/ debug symbols, w/o optimization +# Release : w/o debug symbols, w/ optimization +# RelWithDebInfo : w/ debug symbols, w/ optimization +# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries +#set(ROS_BUILD_TYPE RelWithDebInfo) + +rosbuild_find_ros_package(actionlib_msgs) +include(${actionlib_msgs_PACKAGE_PATH}/cmake/actionbuild.cmake) +genaction() + +rosbuild_init() + +find_package (Threads) +#set the default path for built executables to the "bin" directory +set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) +#set the default path for built libraries to the "lib" directory +set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) + +#uncomment if you have defined messages +rosbuild_genmsg() +#uncomment if you have defined services +#rosbuild_gensrv() + +#common commands for building c++ executables and libraries +#rosbuild_add_library(${PROJECT_NAME} src/example.cpp) +#target_link_libraries(${PROJECT_NAME} another_library) +#rosbuild_add_boost_directories() +#rosbuild_link_boost(${PROJECT_NAME} thread) +rosbuild_add_executable(actionController src/actionController.cpp) +target_link_libraries(actionController ${CMAKE_THREAD_LIBS_INIT}) diff --git a/ROS-groovy/action_controller/CMakeLists.txt~ b/ROS-groovy/action_controller/CMakeLists.txt~ new file mode 100644 index 0000000..eb62dc9 --- /dev/null +++ b/ROS-groovy/action_controller/CMakeLists.txt~ @@ -0,0 +1,34 @@ +cmake_minimum_required(VERSION 2.4.6) +include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) + +# Set the build type. Options are: +# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage +# Debug : w/ debug symbols, w/o optimization +# Release : w/o debug symbols, w/ optimization +# RelWithDebInfo : w/ debug symbols, w/ optimization +# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries +#set(ROS_BUILD_TYPE RelWithDebInfo) + +rosbuild_find_ros_package(actionlib_msgs) +include(${actionlib_msgs_PACKAGE_PATH}/cmake/actionbuild.cmake) +genaction() + +rosbuild_init() + +#set the default path for built executables to the "bin" directory +set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) +#set the default path for built libraries to the "lib" directory +set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) + +#uncomment if you have defined messages +rosbuild_genmsg() +#uncomment if you have defined services +#rosbuild_gensrv() + +#common commands for building c++ executables and libraries +#rosbuild_add_library(${PROJECT_NAME} src/example.cpp) +#target_link_libraries(${PROJECT_NAME} another_library) +#rosbuild_add_boost_directories() +#rosbuild_link_boost(${PROJECT_NAME} thread) +rosbuild_add_executable(actionController src/actionController.cpp) +#target_link_libraries(example ${PROJECT_NAME}) diff --git a/ROS-groovy/action_controller/Makefile b/ROS-groovy/action_controller/Makefile new file mode 100644 index 0000000..b75b928 --- /dev/null +++ b/ROS-groovy/action_controller/Makefile @@ -0,0 +1 @@ +include $(shell rospack find mk)/cmake.mk \ No newline at end of file diff --git a/ROS-groovy/action_controller/README.txt b/ROS-groovy/action_controller/README.txt new file mode 100644 index 0000000..92dd84e --- /dev/null +++ b/ROS-groovy/action_controller/README.txt @@ -0,0 +1 @@ +Simple action controller to translate the trajectory produced from moveit plugin in cmd_vel for the hector quadrotor contreller. It interface itself with moveit plugin using a costum defined action: MultiDofFollowJointTrajectory.action diff --git a/ROS-groovy/action_controller/README.txt~ b/ROS-groovy/action_controller/README.txt~ new file mode 100644 index 0000000..e69de29 diff --git a/ROS-groovy/action_controller/action/MultiDofFollowJointTrajectory.action b/ROS-groovy/action_controller/action/MultiDofFollowJointTrajectory.action new file mode 100644 index 0000000..7edaada --- /dev/null +++ b/ROS-groovy/action_controller/action/MultiDofFollowJointTrajectory.action @@ -0,0 +1,17 @@ +# The joint trajectory to follow +moveit_msgs/MultiDOFJointTrajectory trajectory +--- +int32 error_code +int32 SUCCESSFUL = 0 +int32 INVALID_GOAL = -1 +int32 INVALID_JOINTS = -2 +int32 OLD_HEADER_TIMESTAMP = -3 +int32 PATH_TOLERANCE_VIOLATED = -4 +int32 GOAL_TOLERANCE_VIOLATED = -5 + +--- +Header header +string[] joint_names +moveit_msgs/MultiDOFJointTrajectoryPoint desired +moveit_msgs/MultiDOFJointTrajectoryPoint actual +moveit_msgs/MultiDOFJointTrajectoryPoint error diff --git a/ROS-groovy/action_controller/action/MultiDofFollowJointTrajectory.action~ b/ROS-groovy/action_controller/action/MultiDofFollowJointTrajectory.action~ new file mode 100644 index 0000000..0c1a4c7 --- /dev/null +++ b/ROS-groovy/action_controller/action/MultiDofFollowJointTrajectory.action~ @@ -0,0 +1,42 @@ +# The joint trajectory to follow +moveit_msgs/MultiDOFJointTrajectory trajectory + +# Tolerances for the trajectory. If the measured joint values fall +# outside the tolerances the trajectory goal is aborted. Any +# tolerances that are not specified (by being omitted or set to 0) are +# set to the defaults for the action server (often taken from the +# parameter server). + +# Tolerances applied to the joints as the trajectory is executed. If +# violated, the goal aborts with error_code set to +# PATH_TOLERANCE_VIOLATED. +JointTolerance[] path_tolerance + +# To report success, the joints must be within goal_tolerance of the +# final trajectory value. The goal must be achieved by time the +# trajectory ends plus goal_time_tolerance. (goal_time_tolerance +# allows some leeway in time, so that the trajectory goal can still +# succeed even if the joints reach the goal some time after the +# precise end time of the trajectory). +# +# If the joints are not within goal_tolerance after "trajectory finish +# time" + goal_time_tolerance, the goal aborts with error_code set to +# GOAL_TOLERANCE_VIOLATED +JointTolerance[] goal_tolerance +duration goal_time_tolerance + +--- +int32 error_code +int32 SUCCESSFUL = 0 +int32 INVALID_GOAL = -1 +int32 INVALID_JOINTS = -2 +int32 OLD_HEADER_TIMESTAMP = -3 +int32 PATH_TOLERANCE_VIOLATED = -4 +int32 GOAL_TOLERANCE_VIOLATED = -5 + +--- +Header header +string[] joint_names +moveit_msgs/MultiDOFJointTrajectoryPoint desired +moveit_msgs/MultiDOFJointTrajectoryPoint actual +moveit_msgs/MultiDOFJointTrajectoryPoint error diff --git a/ROS-groovy/action_controller/action/Nuovo documento~ b/ROS-groovy/action_controller/action/Nuovo documento~ new file mode 100644 index 0000000..e69de29 diff --git a/ROS-groovy/action_controller/bin/actionController b/ROS-groovy/action_controller/bin/actionController new file mode 100755 index 0000000..e3579e8 Binary files /dev/null and b/ROS-groovy/action_controller/bin/actionController differ diff --git a/ROS-groovy/action_controller/build/CATKIN_IGNORE b/ROS-groovy/action_controller/build/CATKIN_IGNORE new file mode 100644 index 0000000..e69de29 diff --git a/ROS-groovy/action_controller/build/CMakeCache.txt b/ROS-groovy/action_controller/build/CMakeCache.txt new file mode 100644 index 0000000..55972d2 --- /dev/null +++ b/ROS-groovy/action_controller/build/CMakeCache.txt @@ -0,0 +1,515 @@ +# This is the CMakeCache file. +# For build in directory: /home/alessio/RosWorkspace/sandbox/action_controller/build +# It was generated by CMake: /usr/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is the name of a variable in the cache. +# TYPE is a hint to GUI's for the type of VALUE, DO NOT EDIT TYPE!. +# VALUE is the current value for the KEY. + +######################## +# EXTERNAL cache entries +######################## + +//Build shared libraries (DLLs). +BUILD_SHARED_LIBS:BOOL=ON + +//Catkin enable testing +CATKIN_ENABLE_TESTING:BOOL=ON + +//Prefix to apply to package generated via gendebian +CATKIN_PACKAGE_PREFIX:STRING= + +//Catkin skip testing +CATKIN_SKIP_TESTING:BOOL=OFF + +//Path to a program. +CMAKE_AR:FILEPATH=/usr/bin/ar + +//For backwards compatibility, what version of CMake commands and +// syntax should this version of CMake try to support. +CMAKE_BACKWARDS_COMPATIBILITY:STRING=2.4 + +//Choose the type of build, options are: None(CMAKE_CXX_FLAGS or +// CMAKE_C_FLAGS used) Debug Release RelWithDebInfo MinSizeRel. +CMAKE_BUILD_TYPE:STRING= + +//Enable/Disable color output during build. +CMAKE_COLOR_MAKEFILE:BOOL=ON + +//CXX compiler. +CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++ + +//Flags used by the compiler during all build types. +CMAKE_CXX_FLAGS:STRING= + +//Flags used by the compiler during debug builds. +CMAKE_CXX_FLAGS_DEBUG:STRING=-g + +//Flags used by the compiler during release minsize builds. +CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the compiler during release builds (/MD /Ob1 /Oi +// /Ot /Oy /Gs will produce slightly less optimized but smaller +// files). +CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the compiler during Release with Debug Info builds. +CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g + +//C compiler. +CMAKE_C_COMPILER:FILEPATH=/usr/bin/gcc + +//Flags used by the compiler during all build types. +CMAKE_C_FLAGS:STRING= + +//Flags used by the compiler during debug builds. +CMAKE_C_FLAGS_DEBUG:STRING=-g + +//Flags used by the compiler during release minsize builds. 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assembly for a file +src/actionController.cpp.s: + $(MAKE) -f CMakeFiles/actionController.dir/build.make CMakeFiles/actionController.dir/src/actionController.cpp.s +.PHONY : src/actionController.cpp.s + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... 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Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# source setup_cached.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" && pwd) +. "$_CATKIN_SETUP_DIR/setup_cached.sh" +exec "$@" diff --git a/ROS-groovy/action_controller/build/catkin_generated/generate_cached_setup.py b/ROS-groovy/action_controller/build/catkin_generated/generate_cached_setup.py new file mode 100644 index 0000000..9bf028e --- /dev/null +++ b/ROS-groovy/action_controller/build/catkin_generated/generate_cached_setup.py @@ -0,0 +1,29 @@ +from __future__ import print_function +import argparse +import os +import stat +import sys + +# find the import for catkin's python package - either from source space or from an installed underlay +if os.path.exists(os.path.join('/opt/ros/groovy/share/catkin/cmake', 'catkinConfig.cmake.in')): + sys.path.insert(0, os.path.join('/opt/ros/groovy/share/catkin/cmake', '..', 'python')) +try: + from catkin.environment_cache import generate_environment_script +except ImportError: + # search for catkin package in all workspaces and prepend to path + for workspace in "/opt/ros/groovy".split(';'): + python_path = os.path.join(workspace, 'lib/python2.7/dist-packages') + if os.path.isdir(os.path.join(python_path, 'catkin')): + sys.path.insert(0, python_path) + break + from catkin.environment_cache import generate_environment_script + +code = generate_environment_script('/home/alessio/RosWorkspace/sandbox/action_controller/build/devel/env.sh') + +output_filename = '/home/alessio/RosWorkspace/sandbox/action_controller/build/catkin_generated/setup_cached.sh' +with open(output_filename, 'w') as f: + #print('Generate script for cached setup "%s"' % output_filename) + f.write('\n'.join(code)) + +mode = os.stat(output_filename).st_mode +os.chmod(output_filename, mode | stat.S_IXUSR) diff --git a/ROS-groovy/action_controller/build/catkin_generated/installspace/.catkin b/ROS-groovy/action_controller/build/catkin_generated/installspace/.catkin new file mode 100644 index 0000000..e69de29 diff --git a/ROS-groovy/action_controller/build/catkin_generated/installspace/.rosinstall b/ROS-groovy/action_controller/build/catkin_generated/installspace/.rosinstall new file mode 100644 index 0000000..6fb13af --- /dev/null +++ b/ROS-groovy/action_controller/build/catkin_generated/installspace/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /usr/local/setup.sh diff --git a/ROS-groovy/action_controller/build/catkin_generated/installspace/_setup_util.py b/ROS-groovy/action_controller/build/catkin_generated/installspace/_setup_util.py new file mode 100755 index 0000000..4c08413 --- /dev/null +++ b/ROS-groovy/action_controller/build/catkin_generated/installspace/_setup_util.py @@ -0,0 +1,267 @@ +#!/usr/bin/env python + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +'''This file generates shell code for the setup.SHELL scripts to set environment variables''' + +from __future__ import print_function +import argparse +import copy +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'CPATH': 'include', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': 'lib', + 'PATH': 'bin', + 'PKG_CONFIG_PATH': 'lib/pkgconfig', + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + ''' + Generate shell code to reset environment variables + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + ''' + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolder = env_var_subfolders[key] + value = _rollback_env_variable(unmodified_environ, key, subfolder) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolder): + ''' + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolder: str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + ''' + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False): + ''' + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + ''' + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte'))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + ''' + Generate shell code to prepend environment variables + for the all workspaces. + ''' + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted([key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH']): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolder): + ''' + Return the prefix to prepend to the environment variable NAME, adding any path in NEW_PATHS_STR without creating duplicate or empty items. + ''' + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if subfolder: + path = os.path.join(path, subfolder) + # exclude any path already in env and any path we already added + if path not in environ_paths and path not in checked_paths: + checked_paths.append(path) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + ''' + Generate shell code with found environment hooks + for the all workspaces. + ''' + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + exit(1) + + # environment at generation time + CMAKE_PREFIX_PATH = '/opt/ros/groovy'.split(';') + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + sys.exit(0) diff --git a/ROS-groovy/action_controller/build/catkin_generated/installspace/env.sh b/ROS-groovy/action_controller/build/catkin_generated/installspace/env.sh new file mode 100755 index 0000000..f27c939 --- /dev/null +++ b/ROS-groovy/action_controller/build/catkin_generated/installspace/env.sh @@ -0,0 +1,13 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/ROS-groovy/action_controller/build/catkin_generated/installspace/setup.bash b/ROS-groovy/action_controller/build/catkin_generated/installspace/setup.bash new file mode 100644 index 0000000..abb604e --- /dev/null +++ b/ROS-groovy/action_controller/build/catkin_generated/installspace/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "${BASH_SOURCE[0]}"`" && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/ROS-groovy/action_controller/build/catkin_generated/installspace/setup.sh b/ROS-groovy/action_controller/build/catkin_generated/installspace/setup.sh new file mode 100644 index 0000000..286cd7b --- /dev/null +++ b/ROS-groovy/action_controller/build/catkin_generated/installspace/setup.sh @@ -0,0 +1,73 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/usr/local} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +export CPATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +_SETUP_TMP=`mktemp /tmp/setup.sh.XXXXXXXXXX` +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ > $_SETUP_TMP +unset _SETUP_UTIL +. $_SETUP_TMP +rm -f $_SETUP_TMP +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . "$_envfile" + unset CATKIN_ENV_HOOK_WORKSPACE + _i=$((_i + 1)) +done +unset _i + +unset _CATKIN_ENVIRONMENT_HOOKS_COUNT diff --git a/ROS-groovy/action_controller/build/catkin_generated/installspace/setup.zsh b/ROS-groovy/action_controller/build/catkin_generated/installspace/setup.zsh new file mode 100644 index 0000000..9867e20 --- /dev/null +++ b/ROS-groovy/action_controller/build/catkin_generated/installspace/setup.zsh @@ -0,0 +1,8 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" && pwd) +emulate sh # emulate POSIX +. "$_CATKIN_SETUP_DIR/setup.sh" +emulate zsh # back to zsh mode diff --git a/ROS-groovy/action_controller/build/catkin_generated/ordered_paths.cmake b/ROS-groovy/action_controller/build/catkin_generated/ordered_paths.cmake new file mode 100644 index 0000000..864b586 --- /dev/null +++ b/ROS-groovy/action_controller/build/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/groovy/lib") \ No newline at end of file diff --git a/ROS-groovy/action_controller/build/catkin_generated/setup_cached.sh b/ROS-groovy/action_controller/build/catkin_generated/setup_cached.sh new file mode 100755 index 0000000..976f8f0 --- /dev/null +++ b/ROS-groovy/action_controller/build/catkin_generated/setup_cached.sh @@ -0,0 +1,19 @@ +#!/usr/bin/env sh +# generated from catkin/python/catkin/environment_cache.py + +# based on a snapshot of the environment before and after calling the setup script +# it emulates the modifications of the setup script without recurring computations + +# new environment variables +export CATKIN_TEST_RESULTS_DIR="/home/alessio/RosWorkspace/sandbox/action_controller/build/test_results" +export ROS_TEST_RESULTS_DIR="/home/alessio/RosWorkspace/sandbox/action_controller/build/test_results" + +# modified environment variables +export CMAKE_PREFIX_PATH="/home/alessio/RosWorkspace/sandbox/action_controller/build/devel:$CMAKE_PREFIX_PATH" +export CPATH="/home/alessio/RosWorkspace/sandbox/action_controller/build/devel/include:$CPATH" +export LD_LIBRARY_PATH="/home/alessio/RosWorkspace/sandbox/action_controller/build/devel/lib:$LD_LIBRARY_PATH" +export PATH="/home/alessio/RosWorkspace/sandbox/action_controller/build/devel/bin:$PATH" +export PKG_CONFIG_PATH="/home/alessio/RosWorkspace/sandbox/action_controller/build/devel/lib/pkgconfig:$PKG_CONFIG_PATH" +export PYTHONPATH="/home/alessio/RosWorkspace/sandbox/action_controller/build/devel/lib/python2.7/dist-packages:$PYTHONPATH" +export ROSLISP_PACKAGE_DIRECTORIES="/home/alessio/RosWorkspace/sandbox/action_controller/build/devel/share/common-lisp" +export ROS_PACKAGE_PATH="/home/alessio/RosWorkspace/sandbox/action_controller:/opt/ros/groovy/share:/opt/ros/groovy/stacks" \ No newline at end of file diff --git a/ROS-groovy/action_controller/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp b/ROS-groovy/action_controller/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp new file mode 100644 index 0000000..8a3c234 --- /dev/null +++ b/ROS-groovy/action_controller/build/catkin_generated/stamps/Project/interrogate_setup_dot_py.py.stamp @@ -0,0 +1,233 @@ +#!/usr/bin/env python + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +from __future__ import print_function +import os +import sys + +import distutils.core +try: + import setuptools +except ImportError: + pass + +from argparse import ArgumentParser + + +def _get_locations(pkgs, package_dir): + """ + based on setuptools logic and the package_dir dict, builds a dict + of location roots for each pkg in pkgs. + See http://docs.python.org/distutils/setupscript.html + + :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents) + """ + # package_dir contains a dict {package_name: relativepath} + # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'} + # + # '' means where to look for any package unless a parent package + # is listed so package bar.pot is expected at lib2/bar/pot, + # whereas package sup.dee is expected at src/sup/dee + # + # if package_dir does not state anything about a package, + # setuptool expects the package folder to be in the root of the + # project + locations = {} + allprefix = package_dir.get('', '') + for pkg in pkgs: + parent_location = None + splits = pkg.split('.') + # we iterate over compound name from parent to child + # so once we found parent, children just append to their parent + for key_len in range(len(splits)): + key = '.'.join(splits[:key_len + 1]) + if key not in locations: + if key in package_dir: + locations[key] = package_dir[key] + elif parent_location is not None: + locations[key] = parent_location + else: + locations[key] = allprefix + parent_location = locations[key] + return locations + + +def generate_cmake_file(package_name, version, scripts, package_dir, pkgs): + """ + Generates lines to add to a cmake file which will set variables + + :param version: str, format 'int.int.int' + :param scripts: [list of str]: relative paths to scripts + :param package_dir: {modulename: path} + :pkgs: [list of str] python_packages declared in catkin package + """ + prefix = '%s_SETUP_PY' % package_name + result = [] + result.append(r'set(%s_VERSION "%s")' % (prefix, version)) + result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts))) + + # Remove packages with '.' separators. + # + # setuptools allows specifying submodules in other folders than + # their parent + # + # The symlink approach of catkin does not work with such submodules. + # In the common case, this does not matter as the submodule is + # within the containing module. We verify this assumption, and if + # it passes, we remove submodule packages. + locations = _get_locations(pkgs, package_dir) + for pkgname, location in locations.items(): + if not '.' in pkgname: + continue + splits = pkgname.split('.') + # hack: ignore write-combining setup.py files for msg and srv files + if splits[1] in ['msg', 'srv']: + continue + # check every child has the same root folder as its parent + parent_name = '.'.join(splits[:1]) + if location != locations[parent_name]: + raise RuntimeError( + "catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s" % (pkgname, location, parent_name, locations[parent_name])) + + # If checks pass, remove all submodules + pkgs = [p for p in pkgs if '.' not in p] + + resolved_pkgs = [] + for pkg in pkgs: + resolved_pkgs += [os.path.join(locations[pkg], pkg)] + + result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs))) + result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace("\\", "/"))) + return result + + +def _create_mock_setup_function(package_name, outfile): + """ + Creates a function to call instead of distutils.core.setup or + setuptools.setup, which just captures some args and writes them + into a file that can be used from cmake + + :param package_name: name of the package + :param outfile: filename that cmake will use afterwards + :returns: a function to replace disutils.core.setup and setuptools.setup + """ + + def setup(*args, **kwargs): + ''' + Checks kwargs and writes a scriptfile + ''' + if 'version' not in kwargs: + sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name) + raise RuntimeError("version not found in setup.py") + version = kwargs['version'] + package_dir = kwargs.get('package_dir', {}) + + pkgs = kwargs.get('packages', []) + scripts = kwargs.get('scripts', []) + + unsupported_args = [ + 'entry_points', + 'exclude_package_data', + 'ext_modules ', + 'ext_package', + 'include_package_data', + 'namespace_packages', + 'py_modules', + 'setup_requires', + 'use_2to3', + 'zip_safe'] + used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs] + if used_unsupported_args: + sys.stderr.write("*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n" % (used_unsupported_args, package_name)) + + result = generate_cmake_file(package_name=package_name, + version=version, + scripts=scripts, + package_dir=package_dir, + pkgs=pkgs) + with open(outfile, 'w') as out: + out.write('\n'.join(result)) + + return setup + + +def main(): + """ + Script main, parses arguments and invokes Dummy.setup indirectly. + """ + parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.') + parser.add_argument('package_name', help='Name of catkin package') + parser.add_argument('setupfile_path', help='Full path to setup.py') + parser.add_argument('outfile', help='Where to write result to') + + args = parser.parse_args() + + # print("%s" % sys.argv) + # PACKAGE_NAME = sys.argv[1] + # OUTFILE = sys.argv[3] + # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE), + # file=sys.stderr) + + # print("executing %s" % args.setupfile_path) + + # be sure you're in the directory containing + # setup.py so the sys.path manipulation works, + # so the import of __version__ works + os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path))) + + # patch setup() function of distutils and setuptools for the + # context of evaluating setup.py + try: + fake_setup = _create_mock_setup_function(package_name=args.package_name, + outfile=args.outfile) + + distutils_backup = distutils.core.setup + distutils.core.setup = fake_setup + try: + setuptools_backup = setuptools.setup + setuptools.setup = fake_setup + except NameError: + pass + + with open(args.setupfile_path, 'r') as fh: + exec(fh.read()) + finally: + distutils.core.setup = distutils_backup + try: + setuptools.setup = setuptools_backup + except NameError: + pass + +if __name__ == '__main__': + main() diff --git a/ROS-groovy/action_controller/build/catkin_generated/stamps/Project/package.xml.stamp b/ROS-groovy/action_controller/build/catkin_generated/stamps/Project/package.xml.stamp new file mode 100644 index 0000000..a4c37d3 --- /dev/null +++ b/ROS-groovy/action_controller/build/catkin_generated/stamps/Project/package.xml.stamp @@ -0,0 +1,36 @@ + + + catkin + 0.5.77 + Low-level build system macros and infrastructure for ROS. + Dirk Thomas + BSD + + http://www.ros.org/wiki/catkin + https://github.com/ros/catkin/issues + https://github.com/ros/catkin + + Troy Straszheim + Morten Kjaergaard + Brian Gerkey + Dirk Thomas + + gtest + python-argparse + python-catkin-pkg + python-empy + python-nose + + cmake + + cmake + gtest + python-argparse + python-catkin-pkg + python-empy + python-nose + + + + + diff --git a/ROS-groovy/action_controller/build/cmake_install.cmake b/ROS-groovy/action_controller/build/cmake_install.cmake new file mode 100644 index 0000000..a0a82c3 --- /dev/null +++ b/ROS-groovy/action_controller/build/cmake_install.cmake @@ -0,0 +1,100 @@ +# Install script for directory: /home/alessio/RosWorkspace/sandbox/action_controller + +# Set the install prefix +IF(NOT DEFINED CMAKE_INSTALL_PREFIX) + SET(CMAKE_INSTALL_PREFIX "/usr/local") +ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX) +STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + IF(BUILD_TYPE) + STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + ELSE(BUILD_TYPE) + SET(CMAKE_INSTALL_CONFIG_NAME "RelWithDebInfo") + ENDIF(BUILD_TYPE) + MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + +# Set the component getting installed. +IF(NOT CMAKE_INSTALL_COMPONENT) + IF(COMPONENT) + MESSAGE(STATUS "Install component: \"${COMPONENT}\"") + SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + ELSE(COMPONENT) + SET(CMAKE_INSTALL_COMPONENT) + ENDIF(COMPONENT) +ENDIF(NOT CMAKE_INSTALL_COMPONENT) + +# Install shared libraries without execute permission? +IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + SET(CMAKE_INSTALL_SO_NO_EXE "1") +ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES + "/usr/local/.catkin") +FILE(INSTALL DESTINATION "/usr/local" TYPE FILE FILES "/home/alessio/RosWorkspace/sandbox/action_controller/build/catkin_generated/installspace/.catkin") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES + "/usr/local/_setup_util.py") +FILE(INSTALL DESTINATION "/usr/local" TYPE PROGRAM FILES "/home/alessio/RosWorkspace/sandbox/action_controller/build/catkin_generated/installspace/_setup_util.py") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES + "/usr/local/env.sh") +FILE(INSTALL DESTINATION "/usr/local" TYPE PROGRAM FILES "/home/alessio/RosWorkspace/sandbox/action_controller/build/catkin_generated/installspace/env.sh") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES + "/usr/local/setup.bash") +FILE(INSTALL DESTINATION "/usr/local" TYPE FILE FILES "/home/alessio/RosWorkspace/sandbox/action_controller/build/catkin_generated/installspace/setup.bash") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES + "/usr/local/setup.sh") +FILE(INSTALL DESTINATION "/usr/local" TYPE FILE FILES "/home/alessio/RosWorkspace/sandbox/action_controller/build/catkin_generated/installspace/setup.sh") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES + "/usr/local/setup.zsh") +FILE(INSTALL DESTINATION "/usr/local" TYPE FILE FILES "/home/alessio/RosWorkspace/sandbox/action_controller/build/catkin_generated/installspace/setup.zsh") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES + "/usr/local/.rosinstall") +FILE(INSTALL DESTINATION "/usr/local" TYPE FILE FILES "/home/alessio/RosWorkspace/sandbox/action_controller/build/catkin_generated/installspace/.rosinstall") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/etc/catkin/profile.d" TYPE FILE FILES "/opt/ros/groovy/share/catkin/cmake/env-hooks/05.catkin_make.bash") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/etc/catkin/profile.d" TYPE FILE FILES "/opt/ros/groovy/share/catkin/cmake/env-hooks/05.catkin_make_isolated.bash") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_LOCAL_ONLY) + # Include the install script for each subdirectory. + INCLUDE("/home/alessio/RosWorkspace/sandbox/action_controller/build/gtest/cmake_install.cmake") + +ENDIF(NOT CMAKE_INSTALL_LOCAL_ONLY) + +IF(CMAKE_INSTALL_COMPONENT) + SET(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt") +ELSE(CMAKE_INSTALL_COMPONENT) + SET(CMAKE_INSTALL_MANIFEST "install_manifest.txt") +ENDIF(CMAKE_INSTALL_COMPONENT) + +FILE(WRITE "/home/alessio/RosWorkspace/sandbox/action_controller/build/${CMAKE_INSTALL_MANIFEST}" "") +FOREACH(file ${CMAKE_INSTALL_MANIFEST_FILES}) + FILE(APPEND "/home/alessio/RosWorkspace/sandbox/action_controller/build/${CMAKE_INSTALL_MANIFEST}" "${file}\n") +ENDFOREACH(file) diff --git a/ROS-groovy/action_controller/build/devel/.catkin b/ROS-groovy/action_controller/build/devel/.catkin new file mode 100644 index 0000000..c28642b --- /dev/null +++ b/ROS-groovy/action_controller/build/devel/.catkin @@ -0,0 +1 @@ +/home/alessio/RosWorkspace/sandbox/action_controller \ No newline at end of file diff --git a/ROS-groovy/action_controller/build/devel/.rosinstall b/ROS-groovy/action_controller/build/devel/.rosinstall new file mode 100644 index 0000000..0329580 --- /dev/null +++ b/ROS-groovy/action_controller/build/devel/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/alessio/RosWorkspace/sandbox/action_controller/build/devel/setup.sh diff --git a/ROS-groovy/action_controller/build/devel/_setup_util.py b/ROS-groovy/action_controller/build/devel/_setup_util.py new file mode 100755 index 0000000..4c08413 --- /dev/null +++ b/ROS-groovy/action_controller/build/devel/_setup_util.py @@ -0,0 +1,267 @@ +#!/usr/bin/env python + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +'''This file generates shell code for the setup.SHELL scripts to set environment variables''' + +from __future__ import print_function +import argparse +import copy +import os +import platform +import sys + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'CPATH': 'include', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': 'lib', + 'PATH': 'bin', + 'PKG_CONFIG_PATH': 'lib/pkgconfig', + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + ''' + Generate shell code to reset environment variables + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + ''' + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolder = env_var_subfolders[key] + value = _rollback_env_variable(unmodified_environ, key, subfolder) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolder): + ''' + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolder: str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + ''' + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False): + ''' + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + ''' + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte'))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + ''' + Generate shell code to prepend environment variables + for the all workspaces. + ''' + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted([key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH']): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolder): + ''' + Return the prefix to prepend to the environment variable NAME, adding any path in NEW_PATHS_STR without creating duplicate or empty items. + ''' + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if subfolder: + path = os.path.join(path, subfolder) + # exclude any path already in env and any path we already added + if path not in environ_paths and path not in checked_paths: + checked_paths.append(path) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + ''' + Generate shell code with found environment hooks + for the all workspaces. + ''' + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + generic_env_hooks_workspace = [] + specific_env_hooks = [] + specific_env_hooks_workspace = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + i = generic_env_hooks.index(generic_env_hooks_by_filename[filename]) + generic_env_hooks.pop(i) + generic_env_hooks_workspace.pop(i) + # append env hook + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + generic_env_hooks_workspace.append(workspace) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + i = specific_env_hooks.index(specific_env_hooks_by_filename[filename]) + specific_env_hooks.pop(i) + specific_env_hooks_workspace.pop(i) + # append env hook + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + specific_env_hooks_workspace.append(workspace) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + env_hooks = generic_env_hooks + specific_env_hooks + env_hooks_workspace = generic_env_hooks_workspace + specific_env_hooks_workspace + count = len(env_hooks) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_COUNT', count)) + for i in range(count): + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d' % i, env_hooks[i])) + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS_%d_WORKSPACE' % i, env_hooks_workspace[i])) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + exit(1) + + # environment at generation time + CMAKE_PREFIX_PATH = '/opt/ros/groovy'.split(';') + # prepend current workspace if not already part of CPP + base_path = os.path.dirname(__file__) + if base_path not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, base_path) + CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + sys.exit(0) diff --git a/ROS-groovy/action_controller/build/devel/env.sh b/ROS-groovy/action_controller/build/devel/env.sh new file mode 100755 index 0000000..f27c939 --- /dev/null +++ b/ROS-groovy/action_controller/build/devel/env.sh @@ -0,0 +1,13 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +fi + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "$0"`" && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" +exec "$@" diff --git a/ROS-groovy/action_controller/build/devel/etc/catkin/profile.d/05.catkin-test-results.sh b/ROS-groovy/action_controller/build/devel/etc/catkin/profile.d/05.catkin-test-results.sh new file mode 100644 index 0000000..f07e0a1 --- /dev/null +++ b/ROS-groovy/action_controller/build/devel/etc/catkin/profile.d/05.catkin-test-results.sh @@ -0,0 +1,4 @@ +# generated from catkin/cmake/env-hooks/05.catkin-test-results.sh.develspace.in + +export CATKIN_TEST_RESULTS_DIR="/home/alessio/RosWorkspace/sandbox/action_controller/build/test_results" +export ROS_TEST_RESULTS_DIR="$CATKIN_TEST_RESULTS_DIR" diff --git a/ROS-groovy/action_controller/build/devel/etc/catkin/profile.d/05.catkin_make.bash b/ROS-groovy/action_controller/build/devel/etc/catkin/profile.d/05.catkin_make.bash new file mode 100644 index 0000000..524af27 --- /dev/null +++ b/ROS-groovy/action_controller/build/devel/etc/catkin/profile.d/05.catkin_make.bash @@ -0,0 +1,64 @@ +function _catkin_make() +{ + local cur prev + cur=${COMP_WORDS[COMP_CWORD]} + prev=${COMP_WORDS[COMP_CWORD-1]} + + # autocomplete path arguments for -C, --directory, --source, --build + case $prev in + -C|--directory|--source|--build) + _filedir -d + return 0 + ;; + esac + + if [[ "$cur" == -DCMAKE_BUILD_TYPE=* ]]; then + # autocomplete CMake argument CMAKE_BUILD_TYPE with its options + COMPREPLY=( $( compgen -W "None Debug Release RelWithDebInfo MinSizeRel" -- "${cur:19}" ) ) + elif [[ "$cur" == -DCATKIN_ENABLE_TESTING=* ]]; then + # autocomplete catkin argument CATKIN_ENABLE_TESTING with its options + COMPREPLY=( $( compgen -W "0 1" -- "${cur:24}" ) ) + elif [[ "$cur" == -DCATKIN_DEVEL_PREFIX=* || "$cur" == -DCMAKE_INSTALL_PREFIX=* ]]; then + COMPREPLY=() + elif [[ "$cur" == -* ]]; then + local opts="$( _parse_help "$1" )" + [[ $opts ]] || opts="$( _parse_usage "$1" )" + if [[ "$cur" == -* ]]; then + # suggest some common CMake arguments + opts="$opts -DCATKIN_DEVEL_PREFIX= -DCATKIN_ENABLE_TESTING= -DCMAKE_INSTALL_PREFIX= -DCMAKE_BUILD_TYPE=" + fi + COMPREPLY=( $( compgen -W "$opts" -- "$cur" ) ) + [[ $COMPREPLY == *= ]] && compopt -o nospace + else + # check if custom workspace root has been specified on the command line + local workspace_dir="." + for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do + if [[ ${COMP_WORDS[i]} == -C || ${COMP_WORDS[i]} == --directory ]]; then + # eval to expand tilde + eval workspace_dir=${COMP_WORDS[i+1]} + fi + done + # check if custom build folder has been specified on the command line + local build_dir="build" + for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do + if [[ ${COMP_WORDS[i]} == --build ]]; then + # eval to expand tilde + eval build_dir=${COMP_WORDS[i+1]} + fi + done + + # determine location of Makefile + local makefile_dir + if [[ "$build_dir" = /* ]]; then + makefile_dir="$build_dir" + else + makefile_dir="$workspace_dir/$build_dir" + fi + COMPREPLY=() + if [ -f "$makefile_dir/Makefile" ]; then + cur=${COMP_WORDS[COMP_CWORD]} + COMPREPLY=( $( compgen -W "`make -C $makefile_dir -qp 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur )) + fi + fi +} && +complete -F _catkin_make catkin_make diff --git a/ROS-groovy/action_controller/build/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash b/ROS-groovy/action_controller/build/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash new file mode 100644 index 0000000..586bfcf --- /dev/null +++ b/ROS-groovy/action_controller/build/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash @@ -0,0 +1,62 @@ +function _catkin_make_isolated() +{ + local cur prev + cur=${COMP_WORDS[COMP_CWORD]} + prev=${COMP_WORDS[COMP_CWORD-1]} + + # autocomplete path arguments for -C, --directory, --source, --build, --devel, --install + case $prev in + -C|--directory|--source|--build|--devel|--install) + _filedir -d + return 0 + ;; + esac + + if [[ "$cur" == -DCMAKE_BUILD_TYPE=* ]]; then + # autocomplete CMake argument CMAKE_BUILD_TYPE with its options + COMPREPLY=( $( compgen -W "None Debug Release RelWithDebInfo MinSizeRel" -- "${cur:19}" ) ) + elif [[ "$cur" == -DCATKIN_ENABLE_TESTING=* ]]; then + # autocomplete catkin argument CATKIN_ENABLE_TESTING with its options + COMPREPLY=( $( compgen -W "0 1" -- "${cur:24}" ) ) + elif [[ "$cur" == -* ]]; then + local opts="$( _parse_help "$1" )" + [[ $opts ]] || opts="$( _parse_usage "$1" )" + if [[ "$cur" == -* ]]; then + # suggest some common CMake arguments + opts="$opts -DCATKIN_ENABLE_TESTING= -DCMAKE_BUILD_TYPE=" + fi + COMPREPLY=( $( compgen -W "$opts" -- "$cur" ) ) + [[ $COMPREPLY == *= ]] && compopt -o nospace + else + # check if custom workspace root has been specified on the command line + local workspace_dir="." + for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do + if [[ ${COMP_WORDS[i]} == -C || ${COMP_WORDS[i]} == --directory ]]; then + # eval to expand tilde + eval workspace_dir=${COMP_WORDS[i+1]} + fi + done + # check if custom build folder has been specified on the command line + local build_dir="build_isolated" + for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do + if [[ ${COMP_WORDS[i]} == --build ]]; then + # eval to expand tilde + eval build_dir=${COMP_WORDS[i+1]} + fi + done + + # determine location of Makefile + local makefile_dir + if [[ "$build_dir" = /* ]]; then + makefile_dir="$build_dir" + else + makefile_dir="$workspace_dir/$build_dir" + fi + COMPREPLY=() + if [ -f "$makefile_dir/Makefile" ]; then + cur=${COMP_WORDS[COMP_CWORD]} + COMPREPLY=( $( compgen -W "`make -C $makefile_dir -qp 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur )) + fi + fi +} && +complete -F _catkin_make_isolated catkin_make_isolated diff --git a/ROS-groovy/action_controller/build/devel/setup.bash b/ROS-groovy/action_controller/build/devel/setup.bash new file mode 100644 index 0000000..abb604e --- /dev/null +++ b/ROS-groovy/action_controller/build/devel/setup.bash @@ -0,0 +1,8 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash + +# source setup.sh from same directory as this file +_CATKIN_SETUP_DIR=$(cd "`dirname "${BASH_SOURCE[0]}"`" && pwd) +. "$_CATKIN_SETUP_DIR/setup.sh" diff --git a/ROS-groovy/action_controller/build/devel/setup.sh b/ROS-groovy/action_controller/build/devel/setup.sh new file mode 100644 index 0000000..3d09ed2 --- /dev/null +++ b/ROS-groovy/action_controller/build/devel/setup.sh @@ -0,0 +1,73 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file + +# since this file is sourced either use the provided _CATKIN_SETUP_DIR +# or fall back to the destination set at configure time +: ${_CATKIN_SETUP_DIR:=/home/alessio/RosWorkspace/sandbox/action_controller/build/devel} +_SETUP_UTIL="$_CATKIN_SETUP_DIR/_setup_util.py" +unset _CATKIN_SETUP_DIR + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi +unset _UNAME + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +export CPATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +unset _IS_DARWIN +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +_SETUP_TMP=`mktemp /tmp/setup.sh.XXXXXXXXXX` +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ > $_SETUP_TMP +unset _SETUP_UTIL +. $_SETUP_TMP +rm -f $_SETUP_TMP +unset _SETUP_TMP + +# source all environment hooks +_i=0 +while [ $_i -lt $_CATKIN_ENVIRONMENT_HOOKS_COUNT ]; do + eval _envfile=\$_CATKIN_ENVIRONMENT_HOOKS_$_i + unset _CATKIN_ENVIRONMENT_HOOKS_$_i + eval _envfile_workspace=\$_CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + unset _CATKIN_ENVIRONMENT_HOOKS_${_i}_WORKSPACE + # set workspace for environment hook + CATKIN_ENV_HOOK_WORKSPACE=$_envfile_workspace + . 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diff --git a/ROS-groovy/action_controller/manifest.xml b/ROS-groovy/action_controller/manifest.xml new file mode 100644 index 0000000..96729b0 --- /dev/null +++ b/ROS-groovy/action_controller/manifest.xml @@ -0,0 +1,21 @@ + + + + action_controller + + + Alessio + BSD + + http://ros.org/wiki/action_controller + + + + + + + + + + + diff --git a/ROS-groovy/action_controller/msg/MultiDofFollowJointTrajectoryAction.msg b/ROS-groovy/action_controller/msg/MultiDofFollowJointTrajectoryAction.msg new file mode 100644 index 0000000..1721993 --- /dev/null +++ b/ROS-groovy/action_controller/msg/MultiDofFollowJointTrajectoryAction.msg @@ -0,0 +1,5 @@ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== + +MultiDofFollowJointTrajectoryActionGoal action_goal +MultiDofFollowJointTrajectoryActionResult action_result +MultiDofFollowJointTrajectoryActionFeedback action_feedback diff --git a/ROS-groovy/action_controller/msg/MultiDofFollowJointTrajectoryActionFeedback.msg b/ROS-groovy/action_controller/msg/MultiDofFollowJointTrajectoryActionFeedback.msg new file mode 100644 index 0000000..30634dd --- /dev/null +++ b/ROS-groovy/action_controller/msg/MultiDofFollowJointTrajectoryActionFeedback.msg @@ -0,0 +1,5 @@ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== + +Header header +actionlib_msgs/GoalStatus status +MultiDofFollowJointTrajectoryFeedback feedback diff --git a/ROS-groovy/action_controller/msg/MultiDofFollowJointTrajectoryActionGoal.msg b/ROS-groovy/action_controller/msg/MultiDofFollowJointTrajectoryActionGoal.msg new file mode 100644 index 0000000..f1243b6 --- /dev/null +++ b/ROS-groovy/action_controller/msg/MultiDofFollowJointTrajectoryActionGoal.msg @@ -0,0 +1,5 @@ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== + +Header header +actionlib_msgs/GoalID goal_id +MultiDofFollowJointTrajectoryGoal goal diff --git a/ROS-groovy/action_controller/msg/MultiDofFollowJointTrajectoryActionResult.msg b/ROS-groovy/action_controller/msg/MultiDofFollowJointTrajectoryActionResult.msg new file mode 100644 index 0000000..790fa42 --- /dev/null +++ b/ROS-groovy/action_controller/msg/MultiDofFollowJointTrajectoryActionResult.msg @@ -0,0 +1,5 @@ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== + +Header header +actionlib_msgs/GoalStatus status +MultiDofFollowJointTrajectoryResult result diff --git a/ROS-groovy/action_controller/msg/MultiDofFollowJointTrajectoryFeedback.msg b/ROS-groovy/action_controller/msg/MultiDofFollowJointTrajectoryFeedback.msg new file mode 100644 index 0000000..7e4f6f3 --- /dev/null +++ b/ROS-groovy/action_controller/msg/MultiDofFollowJointTrajectoryFeedback.msg @@ -0,0 +1,7 @@ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== +Header header +string[] joint_names +moveit_msgs/MultiDOFJointTrajectoryPoint desired +moveit_msgs/MultiDOFJointTrajectoryPoint actual +moveit_msgs/MultiDOFJointTrajectoryPoint error + diff --git a/ROS-groovy/action_controller/msg/MultiDofFollowJointTrajectoryGoal.msg b/ROS-groovy/action_controller/msg/MultiDofFollowJointTrajectoryGoal.msg new file mode 100644 index 0000000..fb819a7 --- /dev/null +++ b/ROS-groovy/action_controller/msg/MultiDofFollowJointTrajectoryGoal.msg @@ -0,0 +1,3 @@ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== +# The joint trajectory to follow +moveit_msgs/MultiDOFJointTrajectory trajectory diff --git a/ROS-groovy/action_controller/msg/MultiDofFollowJointTrajectoryResult.msg b/ROS-groovy/action_controller/msg/MultiDofFollowJointTrajectoryResult.msg new file mode 100644 index 0000000..6f81a51 --- /dev/null +++ b/ROS-groovy/action_controller/msg/MultiDofFollowJointTrajectoryResult.msg @@ -0,0 +1,9 @@ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== +int32 error_code +int32 SUCCESSFUL = 0 +int32 INVALID_GOAL = -1 +int32 INVALID_JOINTS = -2 +int32 OLD_HEADER_TIMESTAMP = -3 +int32 PATH_TOLERANCE_VIOLATED = -4 +int32 GOAL_TOLERANCE_VIOLATED = -5 + diff --git a/ROS-groovy/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryAction.h b/ROS-groovy/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryAction.h new file mode 100644 index 0000000..2603417 --- /dev/null +++ b/ROS-groovy/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryAction.h @@ -0,0 +1,308 @@ +/* Auto-generated by genmsg_cpp for file /home/alessio/RosWorkspace/sandbox/action_controller/msg/MultiDofFollowJointTrajectoryAction.msg */ +#ifndef ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYACTION_H +#define ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYACTION_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "action_controller/MultiDofFollowJointTrajectoryActionGoal.h" +#include "action_controller/MultiDofFollowJointTrajectoryActionResult.h" +#include "action_controller/MultiDofFollowJointTrajectoryActionFeedback.h" + +namespace action_controller +{ +template +struct MultiDofFollowJointTrajectoryAction_ { + typedef MultiDofFollowJointTrajectoryAction_ Type; + + MultiDofFollowJointTrajectoryAction_() + : action_goal() + , action_result() + , action_feedback() + { + } + + MultiDofFollowJointTrajectoryAction_(const ContainerAllocator& _alloc) + : action_goal(_alloc) + , action_result(_alloc) + , action_feedback(_alloc) + { + } + + typedef ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ _action_goal_type; + ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ action_goal; + + typedef ::action_controller::MultiDofFollowJointTrajectoryActionResult_ _action_result_type; + ::action_controller::MultiDofFollowJointTrajectoryActionResult_ action_result; + + typedef ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ _action_feedback_type; + ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ action_feedback; + + + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryAction_ > Ptr; + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryAction_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct MultiDofFollowJointTrajectoryAction +typedef ::action_controller::MultiDofFollowJointTrajectoryAction_ > MultiDofFollowJointTrajectoryAction; + +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryAction> MultiDofFollowJointTrajectoryActionPtr; +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryAction const> MultiDofFollowJointTrajectoryActionConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::action_controller::MultiDofFollowJointTrajectoryAction_ & v) +{ + ros::message_operations::Printer< ::action_controller::MultiDofFollowJointTrajectoryAction_ >::stream(s, "", v); + return s;} + +} // namespace action_controller + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryAction_ > : public TrueType {}; +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryAction_ const> : public TrueType {}; +template +struct MD5Sum< ::action_controller::MultiDofFollowJointTrajectoryAction_ > { + static const char* value() + { + return "b718ef3648f19dfc8236babeb519eea6"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryAction_ &) { return value(); } + static const uint64_t static_value1 = 0xb718ef3648f19dfcULL; + static const uint64_t static_value2 = 0x8236babeb519eea6ULL; +}; + +template +struct DataType< ::action_controller::MultiDofFollowJointTrajectoryAction_ > { + static const char* value() + { + return "action_controller/MultiDofFollowJointTrajectoryAction"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryAction_ &) { return value(); } +}; + +template +struct Definition< ::action_controller::MultiDofFollowJointTrajectoryAction_ > { + static const char* value() + { + return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +\n\ +MultiDofFollowJointTrajectoryActionGoal action_goal\n\ +MultiDofFollowJointTrajectoryActionResult action_result\n\ +MultiDofFollowJointTrajectoryActionFeedback action_feedback\n\ +\n\ +================================================================================\n\ +MSG: action_controller/MultiDofFollowJointTrajectoryActionGoal\n\ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +\n\ +Header header\n\ +actionlib_msgs/GoalID goal_id\n\ +MultiDofFollowJointTrajectoryGoal goal\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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: actionlib_msgs/GoalID\n\ +# The stamp should store the time at which this goal was requested.\n\ +# It is used by an action server when it tries to preempt all\n\ +# goals that were requested before a certain time\n\ +time stamp\n\ +\n\ +# The id provides a way to associate feedback and\n\ +# result message with specific goal requests. The id\n\ +# specified must be unique.\n\ +string id\n\ +\n\ +\n\ +================================================================================\n\ +MSG: action_controller/MultiDofFollowJointTrajectoryGoal\n\ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +# The joint trajectory to follow\n\ +moveit_msgs/MultiDOFJointTrajectory trajectory\n\ +\n\ +================================================================================\n\ +MSG: moveit_msgs/MultiDOFJointTrajectory\n\ +# The header is used to specify the reference time for the trajectory durations\n\ +Header header\n\ +\n\ +#A representation of a multi-dof joint trajectory\n\ +string[] joint_names\n\ +MultiDOFJointTrajectoryPoint[] points\n\ +\n\ +================================================================================\n\ +MSG: moveit_msgs/MultiDOFJointTrajectoryPoint\n\ +geometry_msgs/Transform[] transforms\n\ +duration time_from_start\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Transform\n\ +# This represents the transform between two coordinate frames in free space.\n\ +\n\ +Vector3 translation\n\ +Quaternion rotation\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Vector3\n\ +# This represents a vector in free space. \n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +================================================================================\n\ +MSG: geometry_msgs/Quaternion\n\ +# This represents an orientation in free space in quaternion form.\n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +float64 w\n\ +\n\ +================================================================================\n\ +MSG: action_controller/MultiDofFollowJointTrajectoryActionResult\n\ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +\n\ +Header header\n\ +actionlib_msgs/GoalStatus status\n\ +MultiDofFollowJointTrajectoryResult result\n\ +\n\ +================================================================================\n\ +MSG: actionlib_msgs/GoalStatus\n\ +GoalID goal_id\n\ +uint8 status\n\ +uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\ +uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\ +uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\ + # and has since completed its execution (Terminal State)\n\ +uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\ +uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\ + # to some failure (Terminal State)\n\ +uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\ + # because the goal was unattainable or invalid (Terminal State)\n\ +uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\ + # and has not yet completed execution\n\ +uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\ + # but the action server has not yet confirmed that the goal is canceled\n\ +uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\ + # and was successfully cancelled (Terminal State)\n\ +uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\ + # sent over the wire by an action server\n\ +\n\ +#Allow for the user to associate a string with GoalStatus for debugging\n\ +string text\n\ +\n\ +\n\ +================================================================================\n\ +MSG: action_controller/MultiDofFollowJointTrajectoryResult\n\ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +int32 error_code\n\ +int32 SUCCESSFUL = 0\n\ +int32 INVALID_GOAL = -1\n\ +int32 INVALID_JOINTS = -2\n\ +int32 OLD_HEADER_TIMESTAMP = -3\n\ +int32 PATH_TOLERANCE_VIOLATED = -4\n\ +int32 GOAL_TOLERANCE_VIOLATED = -5\n\ +\n\ +\n\ +================================================================================\n\ +MSG: action_controller/MultiDofFollowJointTrajectoryActionFeedback\n\ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +\n\ +Header header\n\ +actionlib_msgs/GoalStatus status\n\ +MultiDofFollowJointTrajectoryFeedback feedback\n\ +\n\ +================================================================================\n\ +MSG: action_controller/MultiDofFollowJointTrajectoryFeedback\n\ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +Header header\n\ +string[] joint_names\n\ +moveit_msgs/MultiDOFJointTrajectoryPoint desired\n\ +moveit_msgs/MultiDOFJointTrajectoryPoint actual\n\ +moveit_msgs/MultiDOFJointTrajectoryPoint error\n\ +\n\ +\n\ +"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryAction_ &) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::action_controller::MultiDofFollowJointTrajectoryAction_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.action_goal); + stream.next(m.action_result); + stream.next(m.action_feedback); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct MultiDofFollowJointTrajectoryAction_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::action_controller::MultiDofFollowJointTrajectoryAction_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::action_controller::MultiDofFollowJointTrajectoryAction_ & v) + { + s << indent << "action_goal: "; +s << std::endl; + Printer< ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ >::stream(s, indent + " ", v.action_goal); + s << indent << "action_result: "; +s << std::endl; + Printer< ::action_controller::MultiDofFollowJointTrajectoryActionResult_ >::stream(s, indent + " ", v.action_result); + s << indent << "action_feedback: "; +s << std::endl; + Printer< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ >::stream(s, indent + " ", v.action_feedback); + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYACTION_H + diff --git a/ROS-groovy/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryActionFeedback.h b/ROS-groovy/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryActionFeedback.h new file mode 100644 index 0000000..9c793b1 --- /dev/null +++ b/ROS-groovy/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryActionFeedback.h @@ -0,0 +1,259 @@ +/* Auto-generated by genmsg_cpp for file /home/alessio/RosWorkspace/sandbox/action_controller/msg/MultiDofFollowJointTrajectoryActionFeedback.msg */ +#ifndef ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYACTIONFEEDBACK_H +#define ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYACTIONFEEDBACK_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" +#include "actionlib_msgs/GoalStatus.h" +#include "action_controller/MultiDofFollowJointTrajectoryFeedback.h" + +namespace action_controller +{ +template +struct MultiDofFollowJointTrajectoryActionFeedback_ { + typedef MultiDofFollowJointTrajectoryActionFeedback_ Type; + + MultiDofFollowJointTrajectoryActionFeedback_() + : header() + , status() + , feedback() + { + } + + MultiDofFollowJointTrajectoryActionFeedback_(const ContainerAllocator& _alloc) + : header(_alloc) + , status(_alloc) + , feedback(_alloc) + { + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef ::actionlib_msgs::GoalStatus_ _status_type; + ::actionlib_msgs::GoalStatus_ status; + + typedef ::action_controller::MultiDofFollowJointTrajectoryFeedback_ _feedback_type; + ::action_controller::MultiDofFollowJointTrajectoryFeedback_ feedback; + + + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ > Ptr; + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct MultiDofFollowJointTrajectoryActionFeedback +typedef ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ > MultiDofFollowJointTrajectoryActionFeedback; + +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback> MultiDofFollowJointTrajectoryActionFeedbackPtr; +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback const> MultiDofFollowJointTrajectoryActionFeedbackConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ & v) +{ + ros::message_operations::Printer< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ >::stream(s, "", v); + return s;} + +} // namespace action_controller + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ > : public TrueType {}; +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ const> : public TrueType {}; +template +struct MD5Sum< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ > { + static const char* value() + { + return "bb90301ebf9ac17d9c3bcafa7a141cba"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ &) { return value(); } + static const uint64_t static_value1 = 0xbb90301ebf9ac17dULL; + static const uint64_t static_value2 = 0x9c3bcafa7a141cbaULL; +}; + +template +struct DataType< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ > { + static const char* value() + { + return "action_controller/MultiDofFollowJointTrajectoryActionFeedback"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ &) { return value(); } +}; + +template +struct Definition< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ > { + static const char* value() + { + return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +\n\ +Header header\n\ +actionlib_msgs/GoalStatus status\n\ +MultiDofFollowJointTrajectoryFeedback feedback\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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: actionlib_msgs/GoalStatus\n\ +GoalID goal_id\n\ +uint8 status\n\ +uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\ +uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\ +uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\ + # and has since completed its execution (Terminal State)\n\ +uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\ +uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\ + # to some failure (Terminal State)\n\ +uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\ + # because the goal was unattainable or invalid (Terminal State)\n\ +uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\ + # and has not yet completed execution\n\ +uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\ + # but the action server has not yet confirmed that the goal is canceled\n\ +uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\ + # and was successfully cancelled (Terminal State)\n\ +uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\ + # sent over the wire by an action server\n\ +\n\ +#Allow for the user to associate a string with GoalStatus for debugging\n\ +string text\n\ +\n\ +\n\ +================================================================================\n\ +MSG: actionlib_msgs/GoalID\n\ +# The stamp should store the time at which this goal was requested.\n\ +# It is used by an action server when it tries to preempt all\n\ +# goals that were requested before a certain time\n\ +time stamp\n\ +\n\ +# The id provides a way to associate feedback and\n\ +# result message with specific goal requests. The id\n\ +# specified must be unique.\n\ +string id\n\ +\n\ +\n\ +================================================================================\n\ +MSG: action_controller/MultiDofFollowJointTrajectoryFeedback\n\ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +Header header\n\ +string[] joint_names\n\ +moveit_msgs/MultiDOFJointTrajectoryPoint desired\n\ +moveit_msgs/MultiDOFJointTrajectoryPoint actual\n\ +moveit_msgs/MultiDOFJointTrajectoryPoint error\n\ +\n\ +\n\ +================================================================================\n\ +MSG: moveit_msgs/MultiDOFJointTrajectoryPoint\n\ +geometry_msgs/Transform[] transforms\n\ +duration time_from_start\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Transform\n\ +# This represents the transform between two coordinate frames in free space.\n\ +\n\ +Vector3 translation\n\ +Quaternion rotation\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Vector3\n\ +# This represents a vector in free space. \n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +================================================================================\n\ +MSG: geometry_msgs/Quaternion\n\ +# This represents an orientation in free space in quaternion form.\n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +float64 w\n\ +\n\ +"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ &) { return value(); } +}; + +template struct HasHeader< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ > : public TrueType {}; +template struct HasHeader< const ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.status); + stream.next(m.feedback); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct MultiDofFollowJointTrajectoryActionFeedback_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::action_controller::MultiDofFollowJointTrajectoryActionFeedback_ & v) + { + s << indent << "header: "; +s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "status: "; +s << std::endl; + Printer< ::actionlib_msgs::GoalStatus_ >::stream(s, indent + " ", v.status); + s << indent << "feedback: "; +s << std::endl; + Printer< ::action_controller::MultiDofFollowJointTrajectoryFeedback_ >::stream(s, indent + " ", v.feedback); + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYACTIONFEEDBACK_H + diff --git a/ROS-groovy/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryActionGoal.h b/ROS-groovy/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryActionGoal.h new file mode 100644 index 0000000..6aff562 --- /dev/null +++ b/ROS-groovy/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryActionGoal.h @@ -0,0 +1,238 @@ +/* Auto-generated by genmsg_cpp for file /home/alessio/RosWorkspace/sandbox/action_controller/msg/MultiDofFollowJointTrajectoryActionGoal.msg */ +#ifndef ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYACTIONGOAL_H +#define ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYACTIONGOAL_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" +#include "actionlib_msgs/GoalID.h" +#include "action_controller/MultiDofFollowJointTrajectoryGoal.h" + +namespace action_controller +{ +template +struct MultiDofFollowJointTrajectoryActionGoal_ { + typedef MultiDofFollowJointTrajectoryActionGoal_ Type; + + MultiDofFollowJointTrajectoryActionGoal_() + : header() + , goal_id() + , goal() + { + } + + MultiDofFollowJointTrajectoryActionGoal_(const ContainerAllocator& _alloc) + : header(_alloc) + , goal_id(_alloc) + , goal(_alloc) + { + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef ::actionlib_msgs::GoalID_ _goal_id_type; + ::actionlib_msgs::GoalID_ goal_id; + + typedef ::action_controller::MultiDofFollowJointTrajectoryGoal_ _goal_type; + ::action_controller::MultiDofFollowJointTrajectoryGoal_ goal; + + + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ > Ptr; + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct MultiDofFollowJointTrajectoryActionGoal +typedef ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ > MultiDofFollowJointTrajectoryActionGoal; + +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryActionGoal> MultiDofFollowJointTrajectoryActionGoalPtr; +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryActionGoal const> MultiDofFollowJointTrajectoryActionGoalConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ & v) +{ + ros::message_operations::Printer< ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ >::stream(s, "", v); + return s;} + +} // namespace action_controller + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ > : public TrueType {}; +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ const> : public TrueType {}; +template +struct MD5Sum< ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ > { + static const char* value() + { + return "1292bbe002476592a0f3166376533ba1"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ &) { return value(); } + static const uint64_t static_value1 = 0x1292bbe002476592ULL; + static const uint64_t static_value2 = 0xa0f3166376533ba1ULL; +}; + +template +struct DataType< ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ > { + static const char* value() + { + return "action_controller/MultiDofFollowJointTrajectoryActionGoal"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ &) { return value(); } +}; + +template +struct Definition< ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ > { + static const char* value() + { + return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +\n\ +Header header\n\ +actionlib_msgs/GoalID goal_id\n\ +MultiDofFollowJointTrajectoryGoal goal\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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: actionlib_msgs/GoalID\n\ +# The stamp should store the time at which this goal was requested.\n\ +# It is used by an action server when it tries to preempt all\n\ +# goals that were requested before a certain time\n\ +time stamp\n\ +\n\ +# The id provides a way to associate feedback and\n\ +# result message with specific goal requests. The id\n\ +# specified must be unique.\n\ +string id\n\ +\n\ +\n\ +================================================================================\n\ +MSG: action_controller/MultiDofFollowJointTrajectoryGoal\n\ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +# The joint trajectory to follow\n\ +moveit_msgs/MultiDOFJointTrajectory trajectory\n\ +\n\ +================================================================================\n\ +MSG: moveit_msgs/MultiDOFJointTrajectory\n\ +# The header is used to specify the reference time for the trajectory durations\n\ +Header header\n\ +\n\ +#A representation of a multi-dof joint trajectory\n\ +string[] joint_names\n\ +MultiDOFJointTrajectoryPoint[] points\n\ +\n\ +================================================================================\n\ +MSG: moveit_msgs/MultiDOFJointTrajectoryPoint\n\ +geometry_msgs/Transform[] transforms\n\ +duration time_from_start\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Transform\n\ +# This represents the transform between two coordinate frames in free space.\n\ +\n\ +Vector3 translation\n\ +Quaternion rotation\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Vector3\n\ +# This represents a vector in free space. \n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +================================================================================\n\ +MSG: geometry_msgs/Quaternion\n\ +# This represents an orientation in free space in quaternion form.\n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +float64 w\n\ +\n\ +"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ &) { return value(); } +}; + +template struct HasHeader< ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ > : public TrueType {}; +template struct HasHeader< const ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.goal_id); + stream.next(m.goal); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct MultiDofFollowJointTrajectoryActionGoal_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::action_controller::MultiDofFollowJointTrajectoryActionGoal_ & v) + { + s << indent << "header: "; +s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "goal_id: "; +s << std::endl; + Printer< ::actionlib_msgs::GoalID_ >::stream(s, indent + " ", v.goal_id); + s << indent << "goal: "; +s << std::endl; + Printer< ::action_controller::MultiDofFollowJointTrajectoryGoal_ >::stream(s, indent + " ", v.goal); + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYACTIONGOAL_H + diff --git a/ROS-groovy/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryActionResult.h b/ROS-groovy/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryActionResult.h new file mode 100644 index 0000000..96ff8c1 --- /dev/null +++ b/ROS-groovy/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryActionResult.h @@ -0,0 +1,233 @@ +/* Auto-generated by genmsg_cpp for file /home/alessio/RosWorkspace/sandbox/action_controller/msg/MultiDofFollowJointTrajectoryActionResult.msg */ +#ifndef ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYACTIONRESULT_H +#define ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYACTIONRESULT_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" +#include "actionlib_msgs/GoalStatus.h" +#include "action_controller/MultiDofFollowJointTrajectoryResult.h" + +namespace action_controller +{ +template +struct MultiDofFollowJointTrajectoryActionResult_ { + typedef MultiDofFollowJointTrajectoryActionResult_ Type; + + MultiDofFollowJointTrajectoryActionResult_() + : header() + , status() + , result() + { + } + + MultiDofFollowJointTrajectoryActionResult_(const ContainerAllocator& _alloc) + : header(_alloc) + , status(_alloc) + , result(_alloc) + { + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef ::actionlib_msgs::GoalStatus_ _status_type; + ::actionlib_msgs::GoalStatus_ status; + + typedef ::action_controller::MultiDofFollowJointTrajectoryResult_ _result_type; + ::action_controller::MultiDofFollowJointTrajectoryResult_ result; + + + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryActionResult_ > Ptr; + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryActionResult_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct MultiDofFollowJointTrajectoryActionResult +typedef ::action_controller::MultiDofFollowJointTrajectoryActionResult_ > MultiDofFollowJointTrajectoryActionResult; + +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryActionResult> MultiDofFollowJointTrajectoryActionResultPtr; +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryActionResult const> MultiDofFollowJointTrajectoryActionResultConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::action_controller::MultiDofFollowJointTrajectoryActionResult_ & v) +{ + ros::message_operations::Printer< ::action_controller::MultiDofFollowJointTrajectoryActionResult_ >::stream(s, "", v); + return s;} + +} // namespace action_controller + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryActionResult_ > : public TrueType {}; +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryActionResult_ const> : public TrueType {}; +template +struct MD5Sum< ::action_controller::MultiDofFollowJointTrajectoryActionResult_ > { + static const char* value() + { + return "bce83d50f7bb28226801436caf0e2043"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryActionResult_ &) { return value(); } + static const uint64_t static_value1 = 0xbce83d50f7bb2822ULL; + static const uint64_t static_value2 = 0x6801436caf0e2043ULL; +}; + +template +struct DataType< ::action_controller::MultiDofFollowJointTrajectoryActionResult_ > { + static const char* value() + { + return "action_controller/MultiDofFollowJointTrajectoryActionResult"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryActionResult_ &) { return value(); } +}; + +template +struct Definition< ::action_controller::MultiDofFollowJointTrajectoryActionResult_ > { + static const char* value() + { + return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +\n\ +Header header\n\ +actionlib_msgs/GoalStatus status\n\ +MultiDofFollowJointTrajectoryResult result\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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: actionlib_msgs/GoalStatus\n\ +GoalID goal_id\n\ +uint8 status\n\ +uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\ +uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\ +uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\ + # and has since completed its execution (Terminal State)\n\ +uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\ +uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\ + # to some failure (Terminal State)\n\ +uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\ + # because the goal was unattainable or invalid (Terminal State)\n\ +uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\ + # and has not yet completed execution\n\ +uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\ + # but the action server has not yet confirmed that the goal is canceled\n\ +uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\ + # and was successfully cancelled (Terminal State)\n\ +uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\ + # sent over the wire by an action server\n\ +\n\ +#Allow for the user to associate a string with GoalStatus for debugging\n\ +string text\n\ +\n\ +\n\ +================================================================================\n\ +MSG: actionlib_msgs/GoalID\n\ +# The stamp should store the time at which this goal was requested.\n\ +# It is used by an action server when it tries to preempt all\n\ +# goals that were requested before a certain time\n\ +time stamp\n\ +\n\ +# The id provides a way to associate feedback and\n\ +# result message with specific goal requests. The id\n\ +# specified must be unique.\n\ +string id\n\ +\n\ +\n\ +================================================================================\n\ +MSG: action_controller/MultiDofFollowJointTrajectoryResult\n\ +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +int32 error_code\n\ +int32 SUCCESSFUL = 0\n\ +int32 INVALID_GOAL = -1\n\ +int32 INVALID_JOINTS = -2\n\ +int32 OLD_HEADER_TIMESTAMP = -3\n\ +int32 PATH_TOLERANCE_VIOLATED = -4\n\ +int32 GOAL_TOLERANCE_VIOLATED = -5\n\ +\n\ +\n\ +"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryActionResult_ &) { return value(); } +}; + +template struct HasHeader< ::action_controller::MultiDofFollowJointTrajectoryActionResult_ > : public TrueType {}; +template struct HasHeader< const ::action_controller::MultiDofFollowJointTrajectoryActionResult_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::action_controller::MultiDofFollowJointTrajectoryActionResult_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.status); + stream.next(m.result); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct MultiDofFollowJointTrajectoryActionResult_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::action_controller::MultiDofFollowJointTrajectoryActionResult_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::action_controller::MultiDofFollowJointTrajectoryActionResult_ & v) + { + s << indent << "header: "; +s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "status: "; +s << std::endl; + Printer< ::actionlib_msgs::GoalStatus_ >::stream(s, indent + " ", v.status); + s << indent << "result: "; +s << std::endl; + Printer< ::action_controller::MultiDofFollowJointTrajectoryResult_ >::stream(s, indent + " ", v.result); + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYACTIONRESULT_H + diff --git a/ROS-groovy/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryFeedback.h b/ROS-groovy/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryFeedback.h new file mode 100644 index 0000000..6f94d50 --- /dev/null +++ b/ROS-groovy/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryFeedback.h @@ -0,0 +1,234 @@ +/* Auto-generated by genmsg_cpp for file /home/alessio/RosWorkspace/sandbox/action_controller/msg/MultiDofFollowJointTrajectoryFeedback.msg */ +#ifndef ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYFEEDBACK_H +#define ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYFEEDBACK_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" +#include "moveit_msgs/MultiDOFJointTrajectoryPoint.h" +#include "moveit_msgs/MultiDOFJointTrajectoryPoint.h" +#include "moveit_msgs/MultiDOFJointTrajectoryPoint.h" + +namespace action_controller +{ +template +struct MultiDofFollowJointTrajectoryFeedback_ { + typedef MultiDofFollowJointTrajectoryFeedback_ Type; + + MultiDofFollowJointTrajectoryFeedback_() + : header() + , joint_names() + , desired() + , actual() + , error() + { + } + + MultiDofFollowJointTrajectoryFeedback_(const ContainerAllocator& _alloc) + : header(_alloc) + , joint_names(_alloc) + , desired(_alloc) + , actual(_alloc) + , error(_alloc) + { + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef std::vector, typename ContainerAllocator::template rebind::other > , typename ContainerAllocator::template rebind, typename ContainerAllocator::template rebind::other > >::other > _joint_names_type; + std::vector, typename ContainerAllocator::template rebind::other > , typename ContainerAllocator::template rebind, typename ContainerAllocator::template rebind::other > >::other > joint_names; + + typedef ::moveit_msgs::MultiDOFJointTrajectoryPoint_ _desired_type; + ::moveit_msgs::MultiDOFJointTrajectoryPoint_ desired; + + typedef ::moveit_msgs::MultiDOFJointTrajectoryPoint_ _actual_type; + ::moveit_msgs::MultiDOFJointTrajectoryPoint_ actual; + + typedef ::moveit_msgs::MultiDOFJointTrajectoryPoint_ _error_type; + ::moveit_msgs::MultiDOFJointTrajectoryPoint_ error; + + + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryFeedback_ > Ptr; + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryFeedback_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct MultiDofFollowJointTrajectoryFeedback +typedef ::action_controller::MultiDofFollowJointTrajectoryFeedback_ > MultiDofFollowJointTrajectoryFeedback; + +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryFeedback> MultiDofFollowJointTrajectoryFeedbackPtr; +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryFeedback const> MultiDofFollowJointTrajectoryFeedbackConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::action_controller::MultiDofFollowJointTrajectoryFeedback_ & v) +{ + ros::message_operations::Printer< ::action_controller::MultiDofFollowJointTrajectoryFeedback_ >::stream(s, "", v); + return s;} + +} // namespace action_controller + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryFeedback_ > : public TrueType {}; +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryFeedback_ const> : public TrueType {}; +template +struct MD5Sum< ::action_controller::MultiDofFollowJointTrajectoryFeedback_ > { + static const char* value() + { + return "4d0c4cf9e9eeebe573320d2109a20899"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryFeedback_ &) { return value(); } + static const uint64_t static_value1 = 0x4d0c4cf9e9eeebe5ULL; + static const uint64_t static_value2 = 0x73320d2109a20899ULL; +}; + +template +struct DataType< ::action_controller::MultiDofFollowJointTrajectoryFeedback_ > { + static const char* value() + { + return "action_controller/MultiDofFollowJointTrajectoryFeedback"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryFeedback_ &) { return value(); } +}; + +template +struct Definition< ::action_controller::MultiDofFollowJointTrajectoryFeedback_ > { + static const char* value() + { + return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +Header header\n\ +string[] joint_names\n\ +moveit_msgs/MultiDOFJointTrajectoryPoint desired\n\ +moveit_msgs/MultiDOFJointTrajectoryPoint actual\n\ +moveit_msgs/MultiDOFJointTrajectoryPoint error\n\ +\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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: moveit_msgs/MultiDOFJointTrajectoryPoint\n\ +geometry_msgs/Transform[] transforms\n\ +duration time_from_start\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Transform\n\ +# This represents the transform between two coordinate frames in free space.\n\ +\n\ +Vector3 translation\n\ +Quaternion rotation\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Vector3\n\ +# This represents a vector in free space. \n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +================================================================================\n\ +MSG: geometry_msgs/Quaternion\n\ +# This represents an orientation in free space in quaternion form.\n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +float64 w\n\ +\n\ +"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryFeedback_ &) { return value(); } +}; + +template struct HasHeader< ::action_controller::MultiDofFollowJointTrajectoryFeedback_ > : public TrueType {}; +template struct HasHeader< const ::action_controller::MultiDofFollowJointTrajectoryFeedback_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::action_controller::MultiDofFollowJointTrajectoryFeedback_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.joint_names); + stream.next(m.desired); + stream.next(m.actual); + stream.next(m.error); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct MultiDofFollowJointTrajectoryFeedback_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::action_controller::MultiDofFollowJointTrajectoryFeedback_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::action_controller::MultiDofFollowJointTrajectoryFeedback_ & 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 << "desired: "; +s << std::endl; + Printer< ::moveit_msgs::MultiDOFJointTrajectoryPoint_ >::stream(s, indent + " ", v.desired); + s << indent << "actual: "; +s << std::endl; + Printer< ::moveit_msgs::MultiDOFJointTrajectoryPoint_ >::stream(s, indent + " ", v.actual); + s << indent << "error: "; +s << std::endl; + Printer< ::moveit_msgs::MultiDOFJointTrajectoryPoint_ >::stream(s, indent + " ", v.error); + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYFEEDBACK_H + diff --git a/ROS-groovy/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryGoal.h b/ROS-groovy/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryGoal.h new file mode 100644 index 0000000..8779e23 --- /dev/null +++ b/ROS-groovy/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryGoal.h @@ -0,0 +1,195 @@ +/* Auto-generated by genmsg_cpp for file /home/alessio/RosWorkspace/sandbox/action_controller/msg/MultiDofFollowJointTrajectoryGoal.msg */ +#ifndef ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYGOAL_H +#define ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYGOAL_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "moveit_msgs/MultiDOFJointTrajectory.h" + +namespace action_controller +{ +template +struct MultiDofFollowJointTrajectoryGoal_ { + typedef MultiDofFollowJointTrajectoryGoal_ Type; + + MultiDofFollowJointTrajectoryGoal_() + : trajectory() + { + } + + MultiDofFollowJointTrajectoryGoal_(const ContainerAllocator& _alloc) + : trajectory(_alloc) + { + } + + typedef ::moveit_msgs::MultiDOFJointTrajectory_ _trajectory_type; + ::moveit_msgs::MultiDOFJointTrajectory_ trajectory; + + + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryGoal_ > Ptr; + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryGoal_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct MultiDofFollowJointTrajectoryGoal +typedef ::action_controller::MultiDofFollowJointTrajectoryGoal_ > MultiDofFollowJointTrajectoryGoal; + +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryGoal> MultiDofFollowJointTrajectoryGoalPtr; +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryGoal const> MultiDofFollowJointTrajectoryGoalConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::action_controller::MultiDofFollowJointTrajectoryGoal_ & v) +{ + ros::message_operations::Printer< ::action_controller::MultiDofFollowJointTrajectoryGoal_ >::stream(s, "", v); + return s;} + +} // namespace action_controller + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryGoal_ > : public TrueType {}; +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryGoal_ const> : public TrueType {}; +template +struct MD5Sum< ::action_controller::MultiDofFollowJointTrajectoryGoal_ > { + static const char* value() + { + return "70ac13f44ce8dd6df296056f97e1a1fa"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryGoal_ &) { return value(); } + static const uint64_t static_value1 = 0x70ac13f44ce8dd6dULL; + static const uint64_t static_value2 = 0xf296056f97e1a1faULL; +}; + +template +struct DataType< ::action_controller::MultiDofFollowJointTrajectoryGoal_ > { + static const char* value() + { + return "action_controller/MultiDofFollowJointTrajectoryGoal"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryGoal_ &) { return value(); } +}; + +template +struct Definition< ::action_controller::MultiDofFollowJointTrajectoryGoal_ > { + static const char* value() + { + return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +# The joint trajectory to follow\n\ +moveit_msgs/MultiDOFJointTrajectory trajectory\n\ +\n\ +================================================================================\n\ +MSG: moveit_msgs/MultiDOFJointTrajectory\n\ +# The header is used to specify the reference time for the trajectory durations\n\ +Header header\n\ +\n\ +#A representation of a multi-dof joint trajectory\n\ +string[] joint_names\n\ +MultiDOFJointTrajectoryPoint[] points\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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: moveit_msgs/MultiDOFJointTrajectoryPoint\n\ +geometry_msgs/Transform[] transforms\n\ +duration time_from_start\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Transform\n\ +# This represents the transform between two coordinate frames in free space.\n\ +\n\ +Vector3 translation\n\ +Quaternion rotation\n\ +\n\ +================================================================================\n\ +MSG: geometry_msgs/Vector3\n\ +# This represents a vector in free space. \n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +================================================================================\n\ +MSG: geometry_msgs/Quaternion\n\ +# This represents an orientation in free space in quaternion form.\n\ +\n\ +float64 x\n\ +float64 y\n\ +float64 z\n\ +float64 w\n\ +\n\ +"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryGoal_ &) { return value(); } +}; + +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::action_controller::MultiDofFollowJointTrajectoryGoal_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.trajectory); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct MultiDofFollowJointTrajectoryGoal_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::action_controller::MultiDofFollowJointTrajectoryGoal_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::action_controller::MultiDofFollowJointTrajectoryGoal_ & v) + { + s << indent << "trajectory: "; +s << std::endl; + Printer< ::moveit_msgs::MultiDOFJointTrajectory_ >::stream(s, indent + " ", v.trajectory); + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYGOAL_H + diff --git a/ROS-groovy/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryResult.h b/ROS-groovy/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryResult.h new file mode 100644 index 0000000..fefd688 --- /dev/null +++ b/ROS-groovy/action_controller/msg_gen/cpp/include/action_controller/MultiDofFollowJointTrajectoryResult.h @@ -0,0 +1,151 @@ +/* Auto-generated by genmsg_cpp for file /home/alessio/RosWorkspace/sandbox/action_controller/msg/MultiDofFollowJointTrajectoryResult.msg */ +#ifndef ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYRESULT_H +#define ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYRESULT_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + + +namespace action_controller +{ +template +struct MultiDofFollowJointTrajectoryResult_ { + typedef MultiDofFollowJointTrajectoryResult_ Type; + + MultiDofFollowJointTrajectoryResult_() + : error_code(0) + { + } + + MultiDofFollowJointTrajectoryResult_(const ContainerAllocator& _alloc) + : error_code(0) + { + } + + typedef int32_t _error_code_type; + int32_t error_code; + + enum { SUCCESSFUL = 0 }; + enum { INVALID_GOAL = -1 }; + enum { INVALID_JOINTS = -2 }; + enum { OLD_HEADER_TIMESTAMP = -3 }; + enum { PATH_TOLERANCE_VIOLATED = -4 }; + enum { GOAL_TOLERANCE_VIOLATED = -5 }; + + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryResult_ > Ptr; + typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryResult_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct MultiDofFollowJointTrajectoryResult +typedef ::action_controller::MultiDofFollowJointTrajectoryResult_ > MultiDofFollowJointTrajectoryResult; + +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryResult> MultiDofFollowJointTrajectoryResultPtr; +typedef boost::shared_ptr< ::action_controller::MultiDofFollowJointTrajectoryResult const> MultiDofFollowJointTrajectoryResultConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::action_controller::MultiDofFollowJointTrajectoryResult_ & v) +{ + ros::message_operations::Printer< ::action_controller::MultiDofFollowJointTrajectoryResult_ >::stream(s, "", v); + return s;} + +} // namespace action_controller + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryResult_ > : public TrueType {}; +template struct IsMessage< ::action_controller::MultiDofFollowJointTrajectoryResult_ const> : public TrueType {}; +template +struct MD5Sum< ::action_controller::MultiDofFollowJointTrajectoryResult_ > { + static const char* value() + { + return "6243274b5d629dc838814109754410d5"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryResult_ &) { return value(); } + static const uint64_t static_value1 = 0x6243274b5d629dc8ULL; + static const uint64_t static_value2 = 0x38814109754410d5ULL; +}; + +template +struct DataType< ::action_controller::MultiDofFollowJointTrajectoryResult_ > { + static const char* value() + { + return "action_controller/MultiDofFollowJointTrajectoryResult"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryResult_ &) { return value(); } +}; + +template +struct Definition< ::action_controller::MultiDofFollowJointTrajectoryResult_ > { + static const char* value() + { + return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\ +int32 error_code\n\ +int32 SUCCESSFUL = 0\n\ +int32 INVALID_GOAL = -1\n\ +int32 INVALID_JOINTS = -2\n\ +int32 OLD_HEADER_TIMESTAMP = -3\n\ +int32 PATH_TOLERANCE_VIOLATED = -4\n\ +int32 GOAL_TOLERANCE_VIOLATED = -5\n\ +\n\ +\n\ +"; + } + + static const char* value(const ::action_controller::MultiDofFollowJointTrajectoryResult_ &) { return value(); } +}; + +template struct IsFixedSize< ::action_controller::MultiDofFollowJointTrajectoryResult_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::action_controller::MultiDofFollowJointTrajectoryResult_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.error_code); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct MultiDofFollowJointTrajectoryResult_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::action_controller::MultiDofFollowJointTrajectoryResult_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::action_controller::MultiDofFollowJointTrajectoryResult_ & v) + { + s << indent << "error_code: "; + Printer::stream(s, indent + " ", v.error_code); + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // ACTION_CONTROLLER_MESSAGE_MULTIDOFFOLLOWJOINTTRAJECTORYRESULT_H + diff --git a/ROS-groovy/action_controller/msg_gen/generated b/ROS-groovy/action_controller/msg_gen/generated new file mode 100644 index 0000000..396a0ba --- /dev/null +++ b/ROS-groovy/action_controller/msg_gen/generated @@ -0,0 +1 @@ +yes \ No newline at end of file diff --git a/ROS-groovy/action_controller/msg_gen/lisp/MultiDofFollowJointTrajectoryAction.lisp b/ROS-groovy/action_controller/msg_gen/lisp/MultiDofFollowJointTrajectoryAction.lisp new file mode 100644 index 0000000..3651916 --- /dev/null +++ b/ROS-groovy/action_controller/msg_gen/lisp/MultiDofFollowJointTrajectoryAction.lisp @@ -0,0 +1,92 @@ +; Auto-generated. Do not edit! + + +(cl:in-package action_controller-msg) + + +;//! \htmlinclude MultiDofFollowJointTrajectoryAction.msg.html + +(cl:defclass (roslisp-msg-protocol:ros-message) + ((action_goal + :reader action_goal + :initarg :action_goal + :type action_controller-msg:MultiDofFollowJointTrajectoryActionGoal + :initform (cl:make-instance 'action_controller-msg:MultiDofFollowJointTrajectoryActionGoal)) + (action_result + :reader action_result + :initarg :action_result + :type action_controller-msg:MultiDofFollowJointTrajectoryActionResult + :initform (cl:make-instance 'action_controller-msg:MultiDofFollowJointTrajectoryActionResult)) + (action_feedback + :reader action_feedback + :initarg :action_feedback + :type action_controller-msg:MultiDofFollowJointTrajectoryActionFeedback + :initform (cl:make-instance 'action_controller-msg:MultiDofFollowJointTrajectoryActionFeedback))) +) + +(cl:defclass MultiDofFollowJointTrajectoryAction () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'MultiDofFollowJointTrajectoryAction) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name action_controller-msg: is deprecated: use action_controller-msg:MultiDofFollowJointTrajectoryAction instead."))) + +(cl:ensure-generic-function 'action_goal-val :lambda-list '(m)) +(cl:defmethod action_goal-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader action_controller-msg:action_goal-val is deprecated. Use action_controller-msg:action_goal instead.") + (action_goal m)) + +(cl:ensure-generic-function 'action_result-val :lambda-list '(m)) +(cl:defmethod action_result-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader action_controller-msg:action_result-val is deprecated. Use action_controller-msg:action_result instead.") + (action_result m)) + +(cl:ensure-generic-function 'action_feedback-val :lambda-list '(m)) +(cl:defmethod action_feedback-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader action_controller-msg:action_feedback-val is deprecated. Use action_controller-msg:action_feedback instead.") + (action_feedback m)) +(cl:defmethod roslisp-msg-protocol:serialize ((msg ) ostream) + "Serializes a message object of type '" + (roslisp-msg-protocol:serialize (cl:slot-value msg 'action_goal) ostream) + (roslisp-msg-protocol:serialize (cl:slot-value msg 'action_result) ostream) + (roslisp-msg-protocol:serialize (cl:slot-value msg 'action_feedback) ostream) +) +(cl:defmethod roslisp-msg-protocol:deserialize ((msg ) istream) + "Deserializes a message object of type '" + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'action_goal) istream) + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'action_result) istream) + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'action_feedback) istream) + msg +) +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) + "Returns string type for a message object of type '" + "action_controller/MultiDofFollowJointTrajectoryAction") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'MultiDofFollowJointTrajectoryAction))) + "Returns string type for a message object of type 'MultiDofFollowJointTrajectoryAction" + "action_controller/MultiDofFollowJointTrajectoryAction") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "b718ef3648f19dfc8236babeb519eea6") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'MultiDofFollowJointTrajectoryAction))) + "Returns md5sum for a message object of type 'MultiDofFollowJointTrajectoryAction" + "b718ef3648f19dfc8236babeb519eea6") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%MultiDofFollowJointTrajectoryActionGoal action_goal~%MultiDofFollowJointTrajectoryActionResult action_result~%MultiDofFollowJointTrajectoryActionFeedback action_feedback~%~%================================================================================~%MSG: action_controller/MultiDofFollowJointTrajectoryActionGoal~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%Header header~%actionlib_msgs/GoalID goal_id~%MultiDofFollowJointTrajectoryGoal goal~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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: actionlib_msgs/GoalID~%# The stamp should store the time at which this goal was requested.~%# It is used by an action server when it tries to preempt all~%# goals that were requested before a certain time~%time stamp~%~%# The id provides a way to associate feedback and~%# result message with specific goal requests. The id~%# specified must be unique.~%string id~%~%~%================================================================================~%MSG: action_controller/MultiDofFollowJointTrajectoryGoal~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%# The joint trajectory to follow~%moveit_msgs/MultiDOFJointTrajectory trajectory~%~%================================================================================~%MSG: moveit_msgs/MultiDOFJointTrajectory~%# The header is used to specify the reference time for the trajectory durations~%Header header~%~%#A representation of a multi-dof joint trajectory~%string[] joint_names~%MultiDOFJointTrajectoryPoint[] points~%~%================================================================================~%MSG: moveit_msgs/MultiDOFJointTrajectoryPoint~%geometry_msgs/Transform[] transforms~%duration time_from_start~%~%================================================================================~%MSG: geometry_msgs/Transform~%# This represents the transform between two coordinate frames in free space.~%~%Vector3 translation~%Quaternion rotation~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%~%float64 x~%float64 y~%float64 z~%================================================================================~%MSG: geometry_msgs/Quaternion~%# This represents an orientation in free space in quaternion form.~%~%float64 x~%float64 y~%float64 z~%float64 w~%~%================================================================================~%MSG: action_controller/MultiDofFollowJointTrajectoryActionResult~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%Header header~%actionlib_msgs/GoalStatus status~%MultiDofFollowJointTrajectoryResult result~%~%================================================================================~%MSG: actionlib_msgs/GoalStatus~%GoalID goal_id~%uint8 status~%uint8 PENDING = 0 # The goal has yet to be processed by the action server~%uint8 ACTIVE = 1 # The goal is currently being processed by the action server~%uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing~% # and has since completed its execution (Terminal State)~%uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)~%uint8 ABORTED = 4 # The goal was aborted during execution by the action server due~% # to some failure (Terminal State)~%uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,~% # because the goal was unattainable or invalid (Terminal State)~%uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing~% # and has not yet completed execution~%uint8 RECALLING = 7 # The goal received a cancel request before it started executing,~% # but the action server has not yet confirmed that the goal is canceled~%uint8 RECALLED = 8 # The goal received a cancel request before it started executing~% # and was successfully cancelled (Terminal State)~%uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be~% # sent over the wire by an action server~%~%#Allow for the user to associate a string with GoalStatus for debugging~%string text~%~%~%================================================================================~%MSG: action_controller/MultiDofFollowJointTrajectoryResult~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%int32 error_code~%int32 SUCCESSFUL = 0~%int32 INVALID_GOAL = -1~%int32 INVALID_JOINTS = -2~%int32 OLD_HEADER_TIMESTAMP = -3~%int32 PATH_TOLERANCE_VIOLATED = -4~%int32 GOAL_TOLERANCE_VIOLATED = -5~%~%~%================================================================================~%MSG: action_controller/MultiDofFollowJointTrajectoryActionFeedback~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%Header header~%actionlib_msgs/GoalStatus status~%MultiDofFollowJointTrajectoryFeedback feedback~%~%================================================================================~%MSG: action_controller/MultiDofFollowJointTrajectoryFeedback~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%Header header~%string[] joint_names~%moveit_msgs/MultiDOFJointTrajectoryPoint desired~%moveit_msgs/MultiDOFJointTrajectoryPoint actual~%moveit_msgs/MultiDOFJointTrajectoryPoint error~%~%~%~%")) +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'MultiDofFollowJointTrajectoryAction))) + "Returns full string definition for message of type 'MultiDofFollowJointTrajectoryAction" + (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%MultiDofFollowJointTrajectoryActionGoal action_goal~%MultiDofFollowJointTrajectoryActionResult action_result~%MultiDofFollowJointTrajectoryActionFeedback action_feedback~%~%================================================================================~%MSG: action_controller/MultiDofFollowJointTrajectoryActionGoal~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%Header header~%actionlib_msgs/GoalID goal_id~%MultiDofFollowJointTrajectoryGoal goal~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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: actionlib_msgs/GoalID~%# The stamp should store the time at which this goal was requested.~%# It is used by an action server when it tries to preempt all~%# goals that were requested before a certain time~%time stamp~%~%# The id provides a way to associate feedback and~%# result message with specific goal requests. The id~%# specified must be unique.~%string id~%~%~%================================================================================~%MSG: action_controller/MultiDofFollowJointTrajectoryGoal~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%# The joint trajectory to follow~%moveit_msgs/MultiDOFJointTrajectory trajectory~%~%================================================================================~%MSG: moveit_msgs/MultiDOFJointTrajectory~%# The header is used to specify the reference time for the trajectory durations~%Header header~%~%#A representation of a multi-dof joint trajectory~%string[] joint_names~%MultiDOFJointTrajectoryPoint[] points~%~%================================================================================~%MSG: moveit_msgs/MultiDOFJointTrajectoryPoint~%geometry_msgs/Transform[] transforms~%duration time_from_start~%~%================================================================================~%MSG: geometry_msgs/Transform~%# This represents the transform between two coordinate frames in free space.~%~%Vector3 translation~%Quaternion rotation~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%~%float64 x~%float64 y~%float64 z~%================================================================================~%MSG: geometry_msgs/Quaternion~%# This represents an orientation in free space in quaternion form.~%~%float64 x~%float64 y~%float64 z~%float64 w~%~%================================================================================~%MSG: action_controller/MultiDofFollowJointTrajectoryActionResult~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%Header header~%actionlib_msgs/GoalStatus status~%MultiDofFollowJointTrajectoryResult result~%~%================================================================================~%MSG: actionlib_msgs/GoalStatus~%GoalID goal_id~%uint8 status~%uint8 PENDING = 0 # The goal has yet to be processed by the action server~%uint8 ACTIVE = 1 # The goal is currently being processed by the action server~%uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing~% # and has since completed its execution (Terminal State)~%uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)~%uint8 ABORTED = 4 # The goal was aborted during execution by the action server due~% # to some failure (Terminal State)~%uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,~% # because the goal was unattainable or invalid (Terminal State)~%uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing~% # and has not yet completed execution~%uint8 RECALLING = 7 # The goal received a cancel request before it started executing,~% # but the action server has not yet confirmed that the goal is canceled~%uint8 RECALLED = 8 # The goal received a cancel request before it started executing~% # and was successfully cancelled (Terminal State)~%uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be~% # sent over the wire by an action server~%~%#Allow for the user to associate a string with GoalStatus for debugging~%string text~%~%~%================================================================================~%MSG: action_controller/MultiDofFollowJointTrajectoryResult~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%int32 error_code~%int32 SUCCESSFUL = 0~%int32 INVALID_GOAL = -1~%int32 INVALID_JOINTS = -2~%int32 OLD_HEADER_TIMESTAMP = -3~%int32 PATH_TOLERANCE_VIOLATED = -4~%int32 GOAL_TOLERANCE_VIOLATED = -5~%~%~%================================================================================~%MSG: action_controller/MultiDofFollowJointTrajectoryActionFeedback~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%Header header~%actionlib_msgs/GoalStatus status~%MultiDofFollowJointTrajectoryFeedback feedback~%~%================================================================================~%MSG: action_controller/MultiDofFollowJointTrajectoryFeedback~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%Header header~%string[] joint_names~%moveit_msgs/MultiDOFJointTrajectoryPoint desired~%moveit_msgs/MultiDOFJointTrajectoryPoint actual~%moveit_msgs/MultiDOFJointTrajectoryPoint error~%~%~%~%")) +(cl:defmethod roslisp-msg-protocol:serialization-length ((msg )) + (cl:+ 0 + (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'action_goal)) + (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'action_result)) + (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'action_feedback)) +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'MultiDofFollowJointTrajectoryAction + (cl:cons ':action_goal (action_goal msg)) + (cl:cons ':action_result (action_result msg)) + (cl:cons ':action_feedback (action_feedback msg)) +)) diff --git a/ROS-groovy/action_controller/msg_gen/lisp/MultiDofFollowJointTrajectoryActionFeedback.lisp b/ROS-groovy/action_controller/msg_gen/lisp/MultiDofFollowJointTrajectoryActionFeedback.lisp new file mode 100644 index 0000000..ea800fc --- /dev/null +++ b/ROS-groovy/action_controller/msg_gen/lisp/MultiDofFollowJointTrajectoryActionFeedback.lisp @@ -0,0 +1,92 @@ +; Auto-generated. Do not edit! + + +(cl:in-package action_controller-msg) + + +;//! \htmlinclude MultiDofFollowJointTrajectoryActionFeedback.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)) + (status + :reader status + :initarg :status + :type actionlib_msgs-msg:GoalStatus + :initform (cl:make-instance 'actionlib_msgs-msg:GoalStatus)) + (feedback + :reader feedback + :initarg :feedback + :type action_controller-msg:MultiDofFollowJointTrajectoryFeedback + :initform (cl:make-instance 'action_controller-msg:MultiDofFollowJointTrajectoryFeedback))) +) + +(cl:defclass MultiDofFollowJointTrajectoryActionFeedback () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'MultiDofFollowJointTrajectoryActionFeedback) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name action_controller-msg: is deprecated: use action_controller-msg:MultiDofFollowJointTrajectoryActionFeedback 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 action_controller-msg:header-val is deprecated. Use action_controller-msg:header instead.") + (header m)) + +(cl:ensure-generic-function 'status-val :lambda-list '(m)) +(cl:defmethod status-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader action_controller-msg:status-val is deprecated. Use action_controller-msg:status instead.") + (status m)) + +(cl:ensure-generic-function 'feedback-val :lambda-list '(m)) +(cl:defmethod feedback-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader action_controller-msg:feedback-val is deprecated. Use action_controller-msg:feedback instead.") + (feedback 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) + (roslisp-msg-protocol:serialize (cl:slot-value msg 'status) ostream) + (roslisp-msg-protocol:serialize (cl:slot-value msg 'feedback) 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) + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'status) istream) + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'feedback) istream) + msg +) +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) + "Returns string type for a message object of type '" + "action_controller/MultiDofFollowJointTrajectoryActionFeedback") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'MultiDofFollowJointTrajectoryActionFeedback))) + "Returns string type for a message object of type 'MultiDofFollowJointTrajectoryActionFeedback" + "action_controller/MultiDofFollowJointTrajectoryActionFeedback") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "bb90301ebf9ac17d9c3bcafa7a141cba") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'MultiDofFollowJointTrajectoryActionFeedback))) + "Returns md5sum for a message object of type 'MultiDofFollowJointTrajectoryActionFeedback" + "bb90301ebf9ac17d9c3bcafa7a141cba") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%Header header~%actionlib_msgs/GoalStatus status~%MultiDofFollowJointTrajectoryFeedback feedback~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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: actionlib_msgs/GoalStatus~%GoalID goal_id~%uint8 status~%uint8 PENDING = 0 # The goal has yet to be processed by the action server~%uint8 ACTIVE = 1 # The goal is currently being processed by the action server~%uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing~% # and has since completed its execution (Terminal State)~%uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)~%uint8 ABORTED = 4 # The goal was aborted during execution by the action server due~% # to some failure (Terminal State)~%uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,~% # because the goal was unattainable or invalid (Terminal State)~%uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing~% # and has not yet completed execution~%uint8 RECALLING = 7 # The goal received a cancel request before it started executing,~% # but the action server has not yet confirmed that the goal is canceled~%uint8 RECALLED = 8 # The goal received a cancel request before it started executing~% # and was successfully cancelled (Terminal State)~%uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be~% # sent over the wire by an action server~%~%#Allow for the user to associate a string with GoalStatus for debugging~%string text~%~%~%================================================================================~%MSG: actionlib_msgs/GoalID~%# The stamp should store the time at which this goal was requested.~%# It is used by an action server when it tries to preempt all~%# goals that were requested before a certain time~%time stamp~%~%# The id provides a way to associate feedback and~%# result message with specific goal requests. The id~%# specified must be unique.~%string id~%~%~%================================================================================~%MSG: action_controller/MultiDofFollowJointTrajectoryFeedback~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%Header header~%string[] joint_names~%moveit_msgs/MultiDOFJointTrajectoryPoint desired~%moveit_msgs/MultiDOFJointTrajectoryPoint actual~%moveit_msgs/MultiDOFJointTrajectoryPoint error~%~%~%================================================================================~%MSG: moveit_msgs/MultiDOFJointTrajectoryPoint~%geometry_msgs/Transform[] transforms~%duration time_from_start~%~%================================================================================~%MSG: geometry_msgs/Transform~%# This represents the transform between two coordinate frames in free space.~%~%Vector3 translation~%Quaternion rotation~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%~%float64 x~%float64 y~%float64 z~%================================================================================~%MSG: geometry_msgs/Quaternion~%# This represents an orientation in free space in quaternion form.~%~%float64 x~%float64 y~%float64 z~%float64 w~%~%~%")) +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'MultiDofFollowJointTrajectoryActionFeedback))) + "Returns full string definition for message of type 'MultiDofFollowJointTrajectoryActionFeedback" + (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%Header header~%actionlib_msgs/GoalStatus status~%MultiDofFollowJointTrajectoryFeedback feedback~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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: actionlib_msgs/GoalStatus~%GoalID goal_id~%uint8 status~%uint8 PENDING = 0 # The goal has yet to be processed by the action server~%uint8 ACTIVE = 1 # The goal is currently being processed by the action server~%uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing~% # and has since completed its execution (Terminal State)~%uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)~%uint8 ABORTED = 4 # The goal was aborted during execution by the action server due~% # to some failure (Terminal State)~%uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,~% # because the goal was unattainable or invalid (Terminal State)~%uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing~% # and has not yet completed execution~%uint8 RECALLING = 7 # The goal received a cancel request before it started executing,~% # but the action server has not yet confirmed that the goal is canceled~%uint8 RECALLED = 8 # The goal received a cancel request before it started executing~% # and was successfully cancelled (Terminal State)~%uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be~% # sent over the wire by an action server~%~%#Allow for the user to associate a string with GoalStatus for debugging~%string text~%~%~%================================================================================~%MSG: actionlib_msgs/GoalID~%# The stamp should store the time at which this goal was requested.~%# It is used by an action server when it tries to preempt all~%# goals that were requested before a certain time~%time stamp~%~%# The id provides a way to associate feedback and~%# result message with specific goal requests. The id~%# specified must be unique.~%string id~%~%~%================================================================================~%MSG: action_controller/MultiDofFollowJointTrajectoryFeedback~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%Header header~%string[] joint_names~%moveit_msgs/MultiDOFJointTrajectoryPoint desired~%moveit_msgs/MultiDOFJointTrajectoryPoint actual~%moveit_msgs/MultiDOFJointTrajectoryPoint error~%~%~%================================================================================~%MSG: moveit_msgs/MultiDOFJointTrajectoryPoint~%geometry_msgs/Transform[] transforms~%duration time_from_start~%~%================================================================================~%MSG: geometry_msgs/Transform~%# This represents the transform between two coordinate frames in free space.~%~%Vector3 translation~%Quaternion rotation~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%~%float64 x~%float64 y~%float64 z~%================================================================================~%MSG: geometry_msgs/Quaternion~%# This represents an orientation in free space in quaternion form.~%~%float64 x~%float64 y~%float64 z~%float64 w~%~%~%")) +(cl:defmethod roslisp-msg-protocol:serialization-length ((msg )) + (cl:+ 0 + (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header)) + (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'status)) + (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'feedback)) +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'MultiDofFollowJointTrajectoryActionFeedback + (cl:cons ':header (header msg)) + (cl:cons ':status (status msg)) + (cl:cons ':feedback (feedback msg)) +)) diff --git a/ROS-groovy/action_controller/msg_gen/lisp/MultiDofFollowJointTrajectoryActionGoal.lisp b/ROS-groovy/action_controller/msg_gen/lisp/MultiDofFollowJointTrajectoryActionGoal.lisp new file mode 100644 index 0000000..fcea219 --- /dev/null +++ b/ROS-groovy/action_controller/msg_gen/lisp/MultiDofFollowJointTrajectoryActionGoal.lisp @@ -0,0 +1,92 @@ +; Auto-generated. Do not edit! + + +(cl:in-package action_controller-msg) + + +;//! \htmlinclude MultiDofFollowJointTrajectoryActionGoal.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)) + (goal_id + :reader goal_id + :initarg :goal_id + :type actionlib_msgs-msg:GoalID + :initform (cl:make-instance 'actionlib_msgs-msg:GoalID)) + (goal + :reader goal + :initarg :goal + :type action_controller-msg:MultiDofFollowJointTrajectoryGoal + :initform (cl:make-instance 'action_controller-msg:MultiDofFollowJointTrajectoryGoal))) +) + +(cl:defclass MultiDofFollowJointTrajectoryActionGoal () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'MultiDofFollowJointTrajectoryActionGoal) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name action_controller-msg: is deprecated: use action_controller-msg:MultiDofFollowJointTrajectoryActionGoal 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 action_controller-msg:header-val is deprecated. Use action_controller-msg:header instead.") + (header m)) + +(cl:ensure-generic-function 'goal_id-val :lambda-list '(m)) +(cl:defmethod goal_id-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader action_controller-msg:goal_id-val is deprecated. Use action_controller-msg:goal_id instead.") + (goal_id m)) + +(cl:ensure-generic-function 'goal-val :lambda-list '(m)) +(cl:defmethod goal-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader action_controller-msg:goal-val is deprecated. Use action_controller-msg:goal instead.") + (goal 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) + (roslisp-msg-protocol:serialize (cl:slot-value msg 'goal_id) ostream) + (roslisp-msg-protocol:serialize (cl:slot-value msg 'goal) 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) + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'goal_id) istream) + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'goal) istream) + msg +) +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) + "Returns string type for a message object of type '" + "action_controller/MultiDofFollowJointTrajectoryActionGoal") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'MultiDofFollowJointTrajectoryActionGoal))) + "Returns string type for a message object of type 'MultiDofFollowJointTrajectoryActionGoal" + "action_controller/MultiDofFollowJointTrajectoryActionGoal") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "1292bbe002476592a0f3166376533ba1") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'MultiDofFollowJointTrajectoryActionGoal))) + "Returns md5sum for a message object of type 'MultiDofFollowJointTrajectoryActionGoal" + "1292bbe002476592a0f3166376533ba1") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%Header header~%actionlib_msgs/GoalID goal_id~%MultiDofFollowJointTrajectoryGoal goal~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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: actionlib_msgs/GoalID~%# The stamp should store the time at which this goal was requested.~%# It is used by an action server when it tries to preempt all~%# goals that were requested before a certain time~%time stamp~%~%# The id provides a way to associate feedback and~%# result message with specific goal requests. The id~%# specified must be unique.~%string id~%~%~%================================================================================~%MSG: action_controller/MultiDofFollowJointTrajectoryGoal~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%# The joint trajectory to follow~%moveit_msgs/MultiDOFJointTrajectory trajectory~%~%================================================================================~%MSG: moveit_msgs/MultiDOFJointTrajectory~%# The header is used to specify the reference time for the trajectory durations~%Header header~%~%#A representation of a multi-dof joint trajectory~%string[] joint_names~%MultiDOFJointTrajectoryPoint[] points~%~%================================================================================~%MSG: moveit_msgs/MultiDOFJointTrajectoryPoint~%geometry_msgs/Transform[] transforms~%duration time_from_start~%~%================================================================================~%MSG: geometry_msgs/Transform~%# This represents the transform between two coordinate frames in free space.~%~%Vector3 translation~%Quaternion rotation~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%~%float64 x~%float64 y~%float64 z~%================================================================================~%MSG: geometry_msgs/Quaternion~%# This represents an orientation in free space in quaternion form.~%~%float64 x~%float64 y~%float64 z~%float64 w~%~%~%")) +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'MultiDofFollowJointTrajectoryActionGoal))) + "Returns full string definition for message of type 'MultiDofFollowJointTrajectoryActionGoal" + (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%Header header~%actionlib_msgs/GoalID goal_id~%MultiDofFollowJointTrajectoryGoal goal~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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: actionlib_msgs/GoalID~%# The stamp should store the time at which this goal was requested.~%# It is used by an action server when it tries to preempt all~%# goals that were requested before a certain time~%time stamp~%~%# The id provides a way to associate feedback and~%# result message with specific goal requests. The id~%# specified must be unique.~%string id~%~%~%================================================================================~%MSG: action_controller/MultiDofFollowJointTrajectoryGoal~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%# The joint trajectory to follow~%moveit_msgs/MultiDOFJointTrajectory trajectory~%~%================================================================================~%MSG: moveit_msgs/MultiDOFJointTrajectory~%# The header is used to specify the reference time for the trajectory durations~%Header header~%~%#A representation of a multi-dof joint trajectory~%string[] joint_names~%MultiDOFJointTrajectoryPoint[] points~%~%================================================================================~%MSG: moveit_msgs/MultiDOFJointTrajectoryPoint~%geometry_msgs/Transform[] transforms~%duration time_from_start~%~%================================================================================~%MSG: geometry_msgs/Transform~%# This represents the transform between two coordinate frames in free space.~%~%Vector3 translation~%Quaternion rotation~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%~%float64 x~%float64 y~%float64 z~%================================================================================~%MSG: geometry_msgs/Quaternion~%# This represents an orientation in free space in quaternion form.~%~%float64 x~%float64 y~%float64 z~%float64 w~%~%~%")) +(cl:defmethod roslisp-msg-protocol:serialization-length ((msg )) + (cl:+ 0 + (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header)) + (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'goal_id)) + (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'goal)) +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'MultiDofFollowJointTrajectoryActionGoal + (cl:cons ':header (header msg)) + (cl:cons ':goal_id (goal_id msg)) + (cl:cons ':goal (goal msg)) +)) diff --git a/ROS-groovy/action_controller/msg_gen/lisp/MultiDofFollowJointTrajectoryActionResult.lisp b/ROS-groovy/action_controller/msg_gen/lisp/MultiDofFollowJointTrajectoryActionResult.lisp new file mode 100644 index 0000000..338276a --- /dev/null +++ b/ROS-groovy/action_controller/msg_gen/lisp/MultiDofFollowJointTrajectoryActionResult.lisp @@ -0,0 +1,92 @@ +; Auto-generated. Do not edit! + + +(cl:in-package action_controller-msg) + + +;//! \htmlinclude MultiDofFollowJointTrajectoryActionResult.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)) + (status + :reader status + :initarg :status + :type actionlib_msgs-msg:GoalStatus + :initform (cl:make-instance 'actionlib_msgs-msg:GoalStatus)) + (result + :reader result + :initarg :result + :type action_controller-msg:MultiDofFollowJointTrajectoryResult + :initform (cl:make-instance 'action_controller-msg:MultiDofFollowJointTrajectoryResult))) +) + +(cl:defclass MultiDofFollowJointTrajectoryActionResult () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'MultiDofFollowJointTrajectoryActionResult) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name action_controller-msg: is deprecated: use action_controller-msg:MultiDofFollowJointTrajectoryActionResult 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 action_controller-msg:header-val is deprecated. Use action_controller-msg:header instead.") + (header m)) + +(cl:ensure-generic-function 'status-val :lambda-list '(m)) +(cl:defmethod status-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader action_controller-msg:status-val is deprecated. Use action_controller-msg:status instead.") + (status m)) + +(cl:ensure-generic-function 'result-val :lambda-list '(m)) +(cl:defmethod result-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader action_controller-msg:result-val is deprecated. Use action_controller-msg:result instead.") + (result 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) + (roslisp-msg-protocol:serialize (cl:slot-value msg 'status) ostream) + (roslisp-msg-protocol:serialize (cl:slot-value msg 'result) 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) + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'status) istream) + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'result) istream) + msg +) +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) + "Returns string type for a message object of type '" + "action_controller/MultiDofFollowJointTrajectoryActionResult") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'MultiDofFollowJointTrajectoryActionResult))) + "Returns string type for a message object of type 'MultiDofFollowJointTrajectoryActionResult" + "action_controller/MultiDofFollowJointTrajectoryActionResult") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "bce83d50f7bb28226801436caf0e2043") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'MultiDofFollowJointTrajectoryActionResult))) + "Returns md5sum for a message object of type 'MultiDofFollowJointTrajectoryActionResult" + "bce83d50f7bb28226801436caf0e2043") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%Header header~%actionlib_msgs/GoalStatus status~%MultiDofFollowJointTrajectoryResult result~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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: actionlib_msgs/GoalStatus~%GoalID goal_id~%uint8 status~%uint8 PENDING = 0 # The goal has yet to be processed by the action server~%uint8 ACTIVE = 1 # The goal is currently being processed by the action server~%uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing~% # and has since completed its execution (Terminal State)~%uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)~%uint8 ABORTED = 4 # The goal was aborted during execution by the action server due~% # to some failure (Terminal State)~%uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,~% # because the goal was unattainable or invalid (Terminal State)~%uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing~% # and has not yet completed execution~%uint8 RECALLING = 7 # The goal received a cancel request before it started executing,~% # but the action server has not yet confirmed that the goal is canceled~%uint8 RECALLED = 8 # The goal received a cancel request before it started executing~% # and was successfully cancelled (Terminal State)~%uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be~% # sent over the wire by an action server~%~%#Allow for the user to associate a string with GoalStatus for debugging~%string text~%~%~%================================================================================~%MSG: actionlib_msgs/GoalID~%# The stamp should store the time at which this goal was requested.~%# It is used by an action server when it tries to preempt all~%# goals that were requested before a certain time~%time stamp~%~%# The id provides a way to associate feedback and~%# result message with specific goal requests. The id~%# specified must be unique.~%string id~%~%~%================================================================================~%MSG: action_controller/MultiDofFollowJointTrajectoryResult~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%int32 error_code~%int32 SUCCESSFUL = 0~%int32 INVALID_GOAL = -1~%int32 INVALID_JOINTS = -2~%int32 OLD_HEADER_TIMESTAMP = -3~%int32 PATH_TOLERANCE_VIOLATED = -4~%int32 GOAL_TOLERANCE_VIOLATED = -5~%~%~%~%")) +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'MultiDofFollowJointTrajectoryActionResult))) + "Returns full string definition for message of type 'MultiDofFollowJointTrajectoryActionResult" + (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%~%Header header~%actionlib_msgs/GoalStatus status~%MultiDofFollowJointTrajectoryResult result~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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: actionlib_msgs/GoalStatus~%GoalID goal_id~%uint8 status~%uint8 PENDING = 0 # The goal has yet to be processed by the action server~%uint8 ACTIVE = 1 # The goal is currently being processed by the action server~%uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing~% # and has since completed its execution (Terminal State)~%uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)~%uint8 ABORTED = 4 # The goal was aborted during execution by the action server due~% # to some failure (Terminal State)~%uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,~% # because the goal was unattainable or invalid (Terminal State)~%uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing~% # and has not yet completed execution~%uint8 RECALLING = 7 # The goal received a cancel request before it started executing,~% # but the action server has not yet confirmed that the goal is canceled~%uint8 RECALLED = 8 # The goal received a cancel request before it started executing~% # and was successfully cancelled (Terminal State)~%uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be~% # sent over the wire by an action server~%~%#Allow for the user to associate a string with GoalStatus for debugging~%string text~%~%~%================================================================================~%MSG: actionlib_msgs/GoalID~%# The stamp should store the time at which this goal was requested.~%# It is used by an action server when it tries to preempt all~%# goals that were requested before a certain time~%time stamp~%~%# The id provides a way to associate feedback and~%# result message with specific goal requests. The id~%# specified must be unique.~%string id~%~%~%================================================================================~%MSG: action_controller/MultiDofFollowJointTrajectoryResult~%# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%int32 error_code~%int32 SUCCESSFUL = 0~%int32 INVALID_GOAL = -1~%int32 INVALID_JOINTS = -2~%int32 OLD_HEADER_TIMESTAMP = -3~%int32 PATH_TOLERANCE_VIOLATED = -4~%int32 GOAL_TOLERANCE_VIOLATED = -5~%~%~%~%")) +(cl:defmethod roslisp-msg-protocol:serialization-length ((msg )) + (cl:+ 0 + (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header)) + (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'status)) + (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'result)) +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'MultiDofFollowJointTrajectoryActionResult + (cl:cons ':header (header msg)) + (cl:cons ':status (status msg)) + (cl:cons ':result (result msg)) +)) diff --git a/ROS-groovy/action_controller/msg_gen/lisp/MultiDofFollowJointTrajectoryFeedback.lisp b/ROS-groovy/action_controller/msg_gen/lisp/MultiDofFollowJointTrajectoryFeedback.lisp new file mode 100644 index 0000000..eacda6c --- /dev/null +++ b/ROS-groovy/action_controller/msg_gen/lisp/MultiDofFollowJointTrajectoryFeedback.lisp @@ -0,0 +1,146 @@ +; Auto-generated. Do not edit! + + +(cl:in-package action_controller-msg) + + +;//! \htmlinclude MultiDofFollowJointTrajectoryFeedback.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 "")) + (desired + :reader desired + :initarg :desired + :type moveit_msgs-msg:MultiDOFJointTrajectoryPoint + :initform (cl:make-instance 'moveit_msgs-msg:MultiDOFJointTrajectoryPoint)) + (actual + :reader actual + :initarg :actual + :type moveit_msgs-msg:MultiDOFJointTrajectoryPoint + :initform (cl:make-instance 'moveit_msgs-msg:MultiDOFJointTrajectoryPoint)) + (error + :reader error + :initarg :error + :type moveit_msgs-msg:MultiDOFJointTrajectoryPoint + :initform (cl:make-instance 'moveit_msgs-msg:MultiDOFJointTrajectoryPoint))) +) + +(cl:defclass MultiDofFollowJointTrajectoryFeedback () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'MultiDofFollowJointTrajectoryFeedback) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name action_controller-msg: is deprecated: use action_controller-msg:MultiDofFollowJointTrajectoryFeedback 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 action_controller-msg:header-val is deprecated. Use action_controller-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 action_controller-msg:joint_names-val is deprecated. Use action_controller-msg:joint_names instead.") + (joint_names m)) + +(cl:ensure-generic-function 'desired-val :lambda-list '(m)) +(cl:defmethod desired-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader action_controller-msg:desired-val is deprecated. Use action_controller-msg:desired instead.") + (desired m)) + +(cl:ensure-generic-function 'actual-val :lambda-list '(m)) +(cl:defmethod actual-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader action_controller-msg:actual-val is deprecated. Use action_controller-msg:actual instead.") + (actual m)) + +(cl:ensure-generic-function 'error-val :lambda-list '(m)) +(cl:defmethod error-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader action_controller-msg:error-val is deprecated. Use action_controller-msg:error instead.") + (error 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)) + (roslisp-msg-protocol:serialize (cl:slot-value msg 'desired) ostream) + (roslisp-msg-protocol:serialize (cl:slot-value msg 'actual) ostream) + (roslisp-msg-protocol:serialize (cl:slot-value msg 'error) 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_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)))))))) + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'desired) istream) + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'actual) istream) + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'error) istream) + msg +) +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) + "Returns string type for a message object of type '" + "action_controller/MultiDofFollowJointTrajectoryFeedback") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'MultiDofFollowJointTrajectoryFeedback))) + "Returns string type for a message object of type 'MultiDofFollowJointTrajectoryFeedback" + "action_controller/MultiDofFollowJointTrajectoryFeedback") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "4d0c4cf9e9eeebe573320d2109a20899") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'MultiDofFollowJointTrajectoryFeedback))) + "Returns md5sum for a message object of type 'MultiDofFollowJointTrajectoryFeedback" + "4d0c4cf9e9eeebe573320d2109a20899") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%Header header~%string[] joint_names~%moveit_msgs/MultiDOFJointTrajectoryPoint desired~%moveit_msgs/MultiDOFJointTrajectoryPoint actual~%moveit_msgs/MultiDOFJointTrajectoryPoint error~%~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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: moveit_msgs/MultiDOFJointTrajectoryPoint~%geometry_msgs/Transform[] transforms~%duration time_from_start~%~%================================================================================~%MSG: geometry_msgs/Transform~%# This represents the transform between two coordinate frames in free space.~%~%Vector3 translation~%Quaternion rotation~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%~%float64 x~%float64 y~%float64 z~%================================================================================~%MSG: geometry_msgs/Quaternion~%# This represents an orientation in free space in quaternion form.~%~%float64 x~%float64 y~%float64 z~%float64 w~%~%~%")) +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'MultiDofFollowJointTrajectoryFeedback))) + "Returns full string definition for message of type 'MultiDofFollowJointTrajectoryFeedback" + (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%Header header~%string[] joint_names~%moveit_msgs/MultiDOFJointTrajectoryPoint desired~%moveit_msgs/MultiDOFJointTrajectoryPoint actual~%moveit_msgs/MultiDOFJointTrajectoryPoint error~%~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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: moveit_msgs/MultiDOFJointTrajectoryPoint~%geometry_msgs/Transform[] transforms~%duration time_from_start~%~%================================================================================~%MSG: geometry_msgs/Transform~%# This represents the transform between two coordinate frames in free space.~%~%Vector3 translation~%Quaternion rotation~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%~%float64 x~%float64 y~%float64 z~%================================================================================~%MSG: geometry_msgs/Quaternion~%# This represents an orientation in free space in quaternion form.~%~%float64 x~%float64 y~%float64 z~%float64 w~%~%~%")) +(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)))) + (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'desired)) + (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'actual)) + (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'error)) +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'MultiDofFollowJointTrajectoryFeedback + (cl:cons ':header (header msg)) + (cl:cons ':joint_names (joint_names msg)) + (cl:cons ':desired (desired msg)) + (cl:cons ':actual (actual msg)) + (cl:cons ':error (error msg)) +)) diff --git a/ROS-groovy/action_controller/msg_gen/lisp/MultiDofFollowJointTrajectoryGoal.lisp b/ROS-groovy/action_controller/msg_gen/lisp/MultiDofFollowJointTrajectoryGoal.lisp new file mode 100644 index 0000000..562131b --- /dev/null +++ b/ROS-groovy/action_controller/msg_gen/lisp/MultiDofFollowJointTrajectoryGoal.lisp @@ -0,0 +1,64 @@ +; Auto-generated. Do not edit! + + +(cl:in-package action_controller-msg) + + +;//! \htmlinclude MultiDofFollowJointTrajectoryGoal.msg.html + +(cl:defclass (roslisp-msg-protocol:ros-message) + ((trajectory + :reader trajectory + :initarg :trajectory + :type moveit_msgs-msg:MultiDOFJointTrajectory + :initform (cl:make-instance 'moveit_msgs-msg:MultiDOFJointTrajectory))) +) + +(cl:defclass MultiDofFollowJointTrajectoryGoal () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'MultiDofFollowJointTrajectoryGoal) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name action_controller-msg: is deprecated: use action_controller-msg:MultiDofFollowJointTrajectoryGoal instead."))) + +(cl:ensure-generic-function 'trajectory-val :lambda-list '(m)) +(cl:defmethod trajectory-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader action_controller-msg:trajectory-val is deprecated. Use action_controller-msg:trajectory instead.") + (trajectory m)) +(cl:defmethod roslisp-msg-protocol:serialize ((msg ) ostream) + "Serializes a message object of type '" + (roslisp-msg-protocol:serialize (cl:slot-value msg 'trajectory) ostream) +) +(cl:defmethod roslisp-msg-protocol:deserialize ((msg ) istream) + "Deserializes a message object of type '" + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'trajectory) istream) + msg +) +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) + "Returns string type for a message object of type '" + "action_controller/MultiDofFollowJointTrajectoryGoal") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'MultiDofFollowJointTrajectoryGoal))) + "Returns string type for a message object of type 'MultiDofFollowJointTrajectoryGoal" + "action_controller/MultiDofFollowJointTrajectoryGoal") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "70ac13f44ce8dd6df296056f97e1a1fa") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'MultiDofFollowJointTrajectoryGoal))) + "Returns md5sum for a message object of type 'MultiDofFollowJointTrajectoryGoal" + "70ac13f44ce8dd6df296056f97e1a1fa") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%# The joint trajectory to follow~%moveit_msgs/MultiDOFJointTrajectory trajectory~%~%================================================================================~%MSG: moveit_msgs/MultiDOFJointTrajectory~%# The header is used to specify the reference time for the trajectory durations~%Header header~%~%#A representation of a multi-dof joint trajectory~%string[] joint_names~%MultiDOFJointTrajectoryPoint[] points~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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: moveit_msgs/MultiDOFJointTrajectoryPoint~%geometry_msgs/Transform[] transforms~%duration time_from_start~%~%================================================================================~%MSG: geometry_msgs/Transform~%# This represents the transform between two coordinate frames in free space.~%~%Vector3 translation~%Quaternion rotation~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%~%float64 x~%float64 y~%float64 z~%================================================================================~%MSG: geometry_msgs/Quaternion~%# This represents an orientation in free space in quaternion form.~%~%float64 x~%float64 y~%float64 z~%float64 w~%~%~%")) +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'MultiDofFollowJointTrajectoryGoal))) + "Returns full string definition for message of type 'MultiDofFollowJointTrajectoryGoal" + (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%# The joint trajectory to follow~%moveit_msgs/MultiDOFJointTrajectory trajectory~%~%================================================================================~%MSG: moveit_msgs/MultiDOFJointTrajectory~%# The header is used to specify the reference time for the trajectory durations~%Header header~%~%#A representation of a multi-dof joint trajectory~%string[] joint_names~%MultiDOFJointTrajectoryPoint[] points~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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: moveit_msgs/MultiDOFJointTrajectoryPoint~%geometry_msgs/Transform[] transforms~%duration time_from_start~%~%================================================================================~%MSG: geometry_msgs/Transform~%# This represents the transform between two coordinate frames in free space.~%~%Vector3 translation~%Quaternion rotation~%~%================================================================================~%MSG: geometry_msgs/Vector3~%# This represents a vector in free space. ~%~%float64 x~%float64 y~%float64 z~%================================================================================~%MSG: geometry_msgs/Quaternion~%# This represents an orientation in free space in quaternion form.~%~%float64 x~%float64 y~%float64 z~%float64 w~%~%~%")) +(cl:defmethod roslisp-msg-protocol:serialization-length ((msg )) + (cl:+ 0 + (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'trajectory)) +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'MultiDofFollowJointTrajectoryGoal + (cl:cons ':trajectory (trajectory msg)) +)) diff --git a/ROS-groovy/action_controller/msg_gen/lisp/MultiDofFollowJointTrajectoryResult.lisp b/ROS-groovy/action_controller/msg_gen/lisp/MultiDofFollowJointTrajectoryResult.lisp new file mode 100644 index 0000000..a7f8148 --- /dev/null +++ b/ROS-groovy/action_controller/msg_gen/lisp/MultiDofFollowJointTrajectoryResult.lisp @@ -0,0 +1,92 @@ +; Auto-generated. Do not edit! + + +(cl:in-package action_controller-msg) + + +;//! \htmlinclude MultiDofFollowJointTrajectoryResult.msg.html + +(cl:defclass (roslisp-msg-protocol:ros-message) + ((error_code + :reader error_code + :initarg :error_code + :type cl:integer + :initform 0)) +) + +(cl:defclass MultiDofFollowJointTrajectoryResult () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'MultiDofFollowJointTrajectoryResult) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name action_controller-msg: is deprecated: use action_controller-msg:MultiDofFollowJointTrajectoryResult instead."))) + +(cl:ensure-generic-function 'error_code-val :lambda-list '(m)) +(cl:defmethod error_code-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader action_controller-msg:error_code-val is deprecated. Use action_controller-msg:error_code instead.") + (error_code m)) +(cl:defmethod roslisp-msg-protocol:symbol-codes ((msg-type (cl:eql '))) + "Constants for message type '" + '((:SUCCESSFUL . 0) + (:INVALID_GOAL . -1) + (:INVALID_JOINTS . -2) + (:OLD_HEADER_TIMESTAMP . -3) + (:PATH_TOLERANCE_VIOLATED . -4) + (:GOAL_TOLERANCE_VIOLATED . -5)) +) +(cl:defmethod roslisp-msg-protocol:symbol-codes ((msg-type (cl:eql 'MultiDofFollowJointTrajectoryResult))) + "Constants for message type 'MultiDofFollowJointTrajectoryResult" + '((:SUCCESSFUL . 0) + (:INVALID_GOAL . -1) + (:INVALID_JOINTS . -2) + (:OLD_HEADER_TIMESTAMP . -3) + (:PATH_TOLERANCE_VIOLATED . -4) + (:GOAL_TOLERANCE_VIOLATED . -5)) +) +(cl:defmethod roslisp-msg-protocol:serialize ((msg ) ostream) + "Serializes a message object of type '" + (cl:let* ((signed (cl:slot-value msg 'error_code)) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 4294967296) signed))) + (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) unsigned) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 16) unsigned) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 24) unsigned) 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:ldb (cl:byte 8 8) unsigned) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 16) unsigned) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 24) unsigned) (cl:read-byte istream)) + (cl:setf (cl:slot-value msg 'error_code) (cl:if (cl:< unsigned 2147483648) unsigned (cl:- unsigned 4294967296)))) + msg +) +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) + "Returns string type for a message object of type '" + "action_controller/MultiDofFollowJointTrajectoryResult") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'MultiDofFollowJointTrajectoryResult))) + "Returns string type for a message object of type 'MultiDofFollowJointTrajectoryResult" + "action_controller/MultiDofFollowJointTrajectoryResult") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "6243274b5d629dc838814109754410d5") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'MultiDofFollowJointTrajectoryResult))) + "Returns md5sum for a message object of type 'MultiDofFollowJointTrajectoryResult" + "6243274b5d629dc838814109754410d5") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%int32 error_code~%int32 SUCCESSFUL = 0~%int32 INVALID_GOAL = -1~%int32 INVALID_JOINTS = -2~%int32 OLD_HEADER_TIMESTAMP = -3~%int32 PATH_TOLERANCE_VIOLATED = -4~%int32 GOAL_TOLERANCE_VIOLATED = -5~%~%~%~%")) +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'MultiDofFollowJointTrajectoryResult))) + "Returns full string definition for message of type 'MultiDofFollowJointTrajectoryResult" + (cl:format cl:nil "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======~%int32 error_code~%int32 SUCCESSFUL = 0~%int32 INVALID_GOAL = -1~%int32 INVALID_JOINTS = -2~%int32 OLD_HEADER_TIMESTAMP = -3~%int32 PATH_TOLERANCE_VIOLATED = -4~%int32 GOAL_TOLERANCE_VIOLATED = -5~%~%~%~%")) +(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 'MultiDofFollowJointTrajectoryResult + (cl:cons ':error_code (error_code msg)) +)) diff --git a/ROS-groovy/action_controller/msg_gen/lisp/_package.lisp b/ROS-groovy/action_controller/msg_gen/lisp/_package.lisp new file mode 100644 index 0000000..ddda1ff --- /dev/null +++ b/ROS-groovy/action_controller/msg_gen/lisp/_package.lisp @@ -0,0 +1,19 @@ +(cl:defpackage action_controller-msg + (:use ) + (:export + "" + "MULTIDOFFOLLOWJOINTTRAJECTORYACTIONGOAL" + "" + "MULTIDOFFOLLOWJOINTTRAJECTORYFEEDBACK" + "" + "MULTIDOFFOLLOWJOINTTRAJECTORYACTION" + "" + "MULTIDOFFOLLOWJOINTTRAJECTORYRESULT" + "" + "MULTIDOFFOLLOWJOINTTRAJECTORYACTIONRESULT" + "" + "MULTIDOFFOLLOWJOINTTRAJECTORYACTIONFEEDBACK" + "" + "MULTIDOFFOLLOWJOINTTRAJECTORYGOAL" + )) + diff --git a/ROS-groovy/action_controller/msg_gen/lisp/_package_MultiDofFollowJointTrajectoryAction.lisp b/ROS-groovy/action_controller/msg_gen/lisp/_package_MultiDofFollowJointTrajectoryAction.lisp new file mode 100644 index 0000000..8977c41 --- /dev/null +++ b/ROS-groovy/action_controller/msg_gen/lisp/_package_MultiDofFollowJointTrajectoryAction.lisp @@ -0,0 +1,8 @@ +(cl:in-package action_controller-msg) +(cl:export '(ACTION_GOAL-VAL + ACTION_GOAL + ACTION_RESULT-VAL + ACTION_RESULT + ACTION_FEEDBACK-VAL + ACTION_FEEDBACK +)) \ No newline at end of file diff --git a/ROS-groovy/action_controller/msg_gen/lisp/_package_MultiDofFollowJointTrajectoryActionFeedback.lisp b/ROS-groovy/action_controller/msg_gen/lisp/_package_MultiDofFollowJointTrajectoryActionFeedback.lisp new file mode 100644 index 0000000..b48a57f --- /dev/null +++ b/ROS-groovy/action_controller/msg_gen/lisp/_package_MultiDofFollowJointTrajectoryActionFeedback.lisp @@ -0,0 +1,8 @@ +(cl:in-package action_controller-msg) +(cl:export '(HEADER-VAL + HEADER + STATUS-VAL + STATUS + FEEDBACK-VAL + FEEDBACK +)) \ No newline at end of file diff --git a/ROS-groovy/action_controller/msg_gen/lisp/_package_MultiDofFollowJointTrajectoryActionGoal.lisp b/ROS-groovy/action_controller/msg_gen/lisp/_package_MultiDofFollowJointTrajectoryActionGoal.lisp new file mode 100644 index 0000000..c50837f --- /dev/null +++ b/ROS-groovy/action_controller/msg_gen/lisp/_package_MultiDofFollowJointTrajectoryActionGoal.lisp @@ -0,0 +1,8 @@ +(cl:in-package action_controller-msg) +(cl:export '(HEADER-VAL + HEADER + GOAL_ID-VAL + GOAL_ID + GOAL-VAL + GOAL +)) \ No newline at end of file diff --git a/ROS-groovy/action_controller/msg_gen/lisp/_package_MultiDofFollowJointTrajectoryActionResult.lisp b/ROS-groovy/action_controller/msg_gen/lisp/_package_MultiDofFollowJointTrajectoryActionResult.lisp new file mode 100644 index 0000000..c43989a --- /dev/null +++ b/ROS-groovy/action_controller/msg_gen/lisp/_package_MultiDofFollowJointTrajectoryActionResult.lisp @@ -0,0 +1,8 @@ +(cl:in-package action_controller-msg) +(cl:export '(HEADER-VAL + HEADER + STATUS-VAL + STATUS + RESULT-VAL + RESULT +)) \ No newline at end of file diff --git a/ROS-groovy/action_controller/msg_gen/lisp/_package_MultiDofFollowJointTrajectoryFeedback.lisp b/ROS-groovy/action_controller/msg_gen/lisp/_package_MultiDofFollowJointTrajectoryFeedback.lisp new file mode 100644 index 0000000..0bec580 --- /dev/null +++ b/ROS-groovy/action_controller/msg_gen/lisp/_package_MultiDofFollowJointTrajectoryFeedback.lisp @@ -0,0 +1,12 @@ +(cl:in-package action_controller-msg) +(cl:export '(HEADER-VAL + HEADER + JOINT_NAMES-VAL + JOINT_NAMES + DESIRED-VAL + DESIRED + ACTUAL-VAL + ACTUAL + ERROR-VAL + ERROR +)) \ No newline at end of file diff --git a/ROS-groovy/action_controller/msg_gen/lisp/_package_MultiDofFollowJointTrajectoryGoal.lisp b/ROS-groovy/action_controller/msg_gen/lisp/_package_MultiDofFollowJointTrajectoryGoal.lisp new file mode 100644 index 0000000..8ffb360 --- /dev/null +++ b/ROS-groovy/action_controller/msg_gen/lisp/_package_MultiDofFollowJointTrajectoryGoal.lisp @@ -0,0 +1,4 @@ +(cl:in-package action_controller-msg) +(cl:export '(TRAJECTORY-VAL + TRAJECTORY +)) \ No newline at end of file diff --git a/ROS-groovy/action_controller/msg_gen/lisp/_package_MultiDofFollowJointTrajectoryResult.lisp b/ROS-groovy/action_controller/msg_gen/lisp/_package_MultiDofFollowJointTrajectoryResult.lisp new file mode 100644 index 0000000..92e6500 --- /dev/null +++ b/ROS-groovy/action_controller/msg_gen/lisp/_package_MultiDofFollowJointTrajectoryResult.lisp @@ -0,0 +1,4 @@ +(cl:in-package action_controller-msg) +(cl:export '(ERROR_CODE-VAL + ERROR_CODE +)) \ No newline at end of file diff --git a/ROS-groovy/action_controller/msg_gen/lisp/action_controller-msg.asd b/ROS-groovy/action_controller/msg_gen/lisp/action_controller-msg.asd new file mode 100644 index 0000000..f1bf707 --- /dev/null +++ b/ROS-groovy/action_controller/msg_gen/lisp/action_controller-msg.asd @@ -0,0 +1,24 @@ + +(cl:in-package :asdf) + +(defsystem "action_controller-msg" + :depends-on (:roslisp-msg-protocol :roslisp-utils :actionlib_msgs-msg + :moveit_msgs-msg + :std_msgs-msg +) + :components ((:file "_package") + (:file "MultiDofFollowJointTrajectoryActionGoal" :depends-on ("_package_MultiDofFollowJointTrajectoryActionGoal")) + (:file "_package_MultiDofFollowJointTrajectoryActionGoal" :depends-on ("_package")) + (:file "MultiDofFollowJointTrajectoryFeedback" :depends-on ("_package_MultiDofFollowJointTrajectoryFeedback")) + (:file "_package_MultiDofFollowJointTrajectoryFeedback" :depends-on ("_package")) + (:file "MultiDofFollowJointTrajectoryAction" :depends-on ("_package_MultiDofFollowJointTrajectoryAction")) + (:file "_package_MultiDofFollowJointTrajectoryAction" :depends-on ("_package")) + (:file "MultiDofFollowJointTrajectoryResult" :depends-on ("_package_MultiDofFollowJointTrajectoryResult")) + (:file "_package_MultiDofFollowJointTrajectoryResult" :depends-on ("_package")) + (:file "MultiDofFollowJointTrajectoryActionResult" :depends-on ("_package_MultiDofFollowJointTrajectoryActionResult")) + (:file "_package_MultiDofFollowJointTrajectoryActionResult" :depends-on ("_package")) + (:file "MultiDofFollowJointTrajectoryActionFeedback" :depends-on ("_package_MultiDofFollowJointTrajectoryActionFeedback")) + (:file "_package_MultiDofFollowJointTrajectoryActionFeedback" :depends-on ("_package")) + (:file "MultiDofFollowJointTrajectoryGoal" :depends-on ("_package_MultiDofFollowJointTrajectoryGoal")) + (:file "_package_MultiDofFollowJointTrajectoryGoal" :depends-on ("_package")) + )) \ No newline at end of file diff --git a/ROS-groovy/action_controller/src/actionController.cpp b/ROS-groovy/action_controller/src/actionController.cpp new file mode 100644 index 0000000..77aa4c8 --- /dev/null +++ b/ROS-groovy/action_controller/src/actionController.cpp @@ -0,0 +1,191 @@ +#include +#include +#include + +#include +#include +#include + +class Controller{ +private: + typedef actionlib::ActionServer ActionServer; + typedef ActionServer::GoalHandle GoalHandle; +public: + Controller(ros::NodeHandle &n) : + node_(n), + action_server_(node_, "multi_dof_joint_trajectory_action", + boost::bind(&Controller::goalCB, this, _1), + boost::bind(&Controller::cancelCB, this, _1), + false), + has_active_goal_(false) +{ + creato=0; + empty.linear.x=0; + empty.linear.y=0; + empty.linear.z=0; + empty.angular.z=0; + empty.angular.y=0; + empty.angular.x=0; + pub_topic = node_.advertise("cmd_vel", 1); + action_server_.start(); + ROS_INFO_STREAM("Node ready!"); +} +private: + ros::NodeHandle node_; + ActionServer action_server_; + ros::Publisher pub_topic; + geometry_msgs::Twist empty; + geometry_msgs::Transform_ > lastPosition; + geometry_msgs::Twist cmd; + pthread_t trajectoryExecutor; + int creato; + + bool has_active_goal_; + GoalHandle active_goal_; + moveit_msgs::MultiDOFJointTrajectory_ > toExecute; + + void cancelCB(GoalHandle gh){ + if (active_goal_ == gh) + { + // Stops the controller. + if(creato){ + ROS_INFO_STREAM("Stop thread"); + pthread_cancel(trajectoryExecutor); + creato=0; + } + pub_topic.publish(empty); + + // Marks the current goal as canceled. + active_goal_.setCanceled(); + has_active_goal_ = false; + } + } + + void goalCB(GoalHandle gh){ + if (has_active_goal_) + { + // Stops the controller. + if(creato){ + pthread_cancel(trajectoryExecutor); + creato=0; + } + pub_topic.publish(empty); + + // Marks the current goal as canceled. + active_goal_.setCanceled(); + has_active_goal_ = false; + } + + gh.setAccepted(); + active_goal_ = gh; + has_active_goal_ = true; + toExecute = gh.getGoal()->trajectory; + + //controllore solo per il giunto virtuale Base + if(pthread_create(&trajectoryExecutor, NULL, threadWrapper, this)==0){ + creato=1; + ROS_INFO_STREAM("Thread for trajectory execution created"); + } else { + ROS_INFO_STREAM("Thread creation failed!"); + } + + } + + static void* threadWrapper(void* arg) { + Controller * mySelf=(Controller*)arg; + mySelf->executeTrajectory(); + return NULL; + } + + void executeTrajectory(){ + if(toExecute.joint_names[0]=="Base" && toExecute.points.size()>0){ + for(int k=0; k > punto=toExecute.points[k].transforms[0]; + bool eseguito=true; + if(k!=0){ + eseguito=publishTranslationComand(punto,false); + if(k==(toExecute.points.size()-1)){ + if(!eseguito) publishTranslationComand(punto,true); + publishRotationComand(punto,false); + } + } else { + publishRotationComand(punto,true); + } + pub_topic.publish(empty); + //aggiorno start position + if(eseguito){ + lastPosition.translation=punto.translation; + lastPosition.rotation=punto.rotation; + } + } + } + active_goal_.setSucceeded(); + has_active_goal_=false; + creato=0; + + } + bool publishTranslationComand(geometry_msgs::Transform_ > punto, bool anyway){ + //creazione comando di traslazione + cmd.linear.x=punto.translation.x-lastPosition.translation.x; + cmd.linear.y=punto.translation.y-lastPosition.translation.y; + cmd.linear.z=punto.translation.z-lastPosition.translation.z; + cmd.angular.x=cmd.angular.y=cmd.angular.z=0; + + if(anyway || cmd.linear.x>=0.5 || cmd.linear.y>=0.5 || cmd.linear.z>=0.5){ + printPositionInfo(); + printCmdInfo(); + pub_topic.publish(cmd); + //tempo d'esecuzione + ros::Duration(1.0).sleep(); + return true; + } + return false; + } + + void publishRotationComand(geometry_msgs::Transform_ > punto, bool start){ + //comando di allineamento, permesse solo rotazioni sull'asse z + cmd.linear.x=cmd.linear.y=cmd.linear.z=cmd.angular.x=cmd.angular.y=0; + //start = true --> devo tornare nell'orientazione 0 + //start = false --> devo arrivare al'orientazione punto.rotation.z + cmd.angular.z=(start?0-punto.rotation.z:punto.rotation.z); + + printCmdInfo(); + + double sleep=cmd.angular.z*3.0; //tempo necessario a tornare nella giusta orientazione + if(sleep<0) sleep=-sleep; + pub_topic.publish(cmd); + ros::Duration(sleep).sleep(); + cmd.angular.z=0; + } + + void printPositionInfo(){ + ROS_INFO_STREAM("Start Position: ["< 0x03000000 else False +import genpy +import struct + +import actionlib_msgs.msg +import geometry_msgs.msg +import moveit_msgs.msg +import action_controller.msg +import genpy +import std_msgs.msg + +class MultiDofFollowJointTrajectoryAction(genpy.Message): + _md5sum = "b718ef3648f19dfc8236babeb519eea6" + _type = "action_controller/MultiDofFollowJointTrajectoryAction" + _has_header = False #flag to mark the presence of a Header object + _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== + +MultiDofFollowJointTrajectoryActionGoal action_goal +MultiDofFollowJointTrajectoryActionResult action_result +MultiDofFollowJointTrajectoryActionFeedback action_feedback + +================================================================================ +MSG: action_controller/MultiDofFollowJointTrajectoryActionGoal +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== + +Header header +actionlib_msgs/GoalID goal_id +MultiDofFollowJointTrajectoryGoal goal + +================================================================================ +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.secs: seconds (stamp_secs) since epoch +# * stamp.nsecs: nanoseconds since stamp_secs +# 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: actionlib_msgs/GoalID +# The stamp should store the time at which this goal was requested. +# It is used by an action server when it tries to preempt all +# goals that were requested before a certain time +time stamp + +# The id provides a way to associate feedback and +# result message with specific goal requests. The id +# specified must be unique. +string id + + +================================================================================ +MSG: action_controller/MultiDofFollowJointTrajectoryGoal +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== +# The joint trajectory to follow +moveit_msgs/MultiDOFJointTrajectory trajectory + +================================================================================ +MSG: moveit_msgs/MultiDOFJointTrajectory +# The header is used to specify the reference time for the trajectory durations +Header header + +#A representation of a multi-dof joint trajectory +string[] joint_names +MultiDOFJointTrajectoryPoint[] points + +================================================================================ +MSG: moveit_msgs/MultiDOFJointTrajectoryPoint +geometry_msgs/Transform[] transforms +duration time_from_start + +================================================================================ +MSG: geometry_msgs/Transform +# This represents the transform between two coordinate frames in free space. + +Vector3 translation +Quaternion rotation + +================================================================================ +MSG: geometry_msgs/Vector3 +# This represents a vector in free space. + +float64 x +float64 y +float64 z +================================================================================ +MSG: geometry_msgs/Quaternion +# This represents an orientation in free space in quaternion form. + +float64 x +float64 y +float64 z +float64 w + +================================================================================ +MSG: action_controller/MultiDofFollowJointTrajectoryActionResult +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== + +Header header +actionlib_msgs/GoalStatus status +MultiDofFollowJointTrajectoryResult result + +================================================================================ +MSG: actionlib_msgs/GoalStatus +GoalID goal_id +uint8 status +uint8 PENDING = 0 # The goal has yet to be processed by the action server +uint8 ACTIVE = 1 # The goal is currently being processed by the action server +uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing + # and has since completed its execution (Terminal State) +uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State) +uint8 ABORTED = 4 # The goal was aborted during execution by the action server due + # to some failure (Terminal State) +uint8 REJECTED = 5 # The goal was rejected by the action server without being processed, + # because the goal was unattainable or invalid (Terminal State) +uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing + # and has not yet completed execution +uint8 RECALLING = 7 # The goal received a cancel request before it started executing, + # but the action server has not yet confirmed that the goal is canceled +uint8 RECALLED = 8 # The goal received a cancel request before it started executing + # and was successfully cancelled (Terminal State) +uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be + # sent over the wire by an action server + +#Allow for the user to associate a string with GoalStatus for debugging +string text + + +================================================================================ +MSG: action_controller/MultiDofFollowJointTrajectoryResult +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== +int32 error_code +int32 SUCCESSFUL = 0 +int32 INVALID_GOAL = -1 +int32 INVALID_JOINTS = -2 +int32 OLD_HEADER_TIMESTAMP = -3 +int32 PATH_TOLERANCE_VIOLATED = -4 +int32 GOAL_TOLERANCE_VIOLATED = -5 + + +================================================================================ +MSG: action_controller/MultiDofFollowJointTrajectoryActionFeedback +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== + +Header header +actionlib_msgs/GoalStatus status +MultiDofFollowJointTrajectoryFeedback feedback + +================================================================================ +MSG: action_controller/MultiDofFollowJointTrajectoryFeedback +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== +Header header +string[] joint_names +moveit_msgs/MultiDOFJointTrajectoryPoint desired +moveit_msgs/MultiDOFJointTrajectoryPoint actual +moveit_msgs/MultiDOFJointTrajectoryPoint error + + +""" + __slots__ = ['action_goal','action_result','action_feedback'] + _slot_types = ['action_controller/MultiDofFollowJointTrajectoryActionGoal','action_controller/MultiDofFollowJointTrajectoryActionResult','action_controller/MultiDofFollowJointTrajectoryActionFeedback'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + action_goal,action_result,action_feedback + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(MultiDofFollowJointTrajectoryAction, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.action_goal is None: + self.action_goal = action_controller.msg.MultiDofFollowJointTrajectoryActionGoal() + if self.action_result is None: + self.action_result = action_controller.msg.MultiDofFollowJointTrajectoryActionResult() + if self.action_feedback is None: + self.action_feedback = action_controller.msg.MultiDofFollowJointTrajectoryActionFeedback() + else: + self.action_goal = action_controller.msg.MultiDofFollowJointTrajectoryActionGoal() + self.action_result = action_controller.msg.MultiDofFollowJointTrajectoryActionResult() + self.action_feedback = action_controller.msg.MultiDofFollowJointTrajectoryActionFeedback() + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs)) + _x = self.action_goal.header.frame_id + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.pack(' 0x03000000 else False +import genpy +import struct + +import actionlib_msgs.msg +import geometry_msgs.msg +import moveit_msgs.msg +import std_msgs.msg +import genpy +import action_controller.msg + +class MultiDofFollowJointTrajectoryActionFeedback(genpy.Message): + _md5sum = "bb90301ebf9ac17d9c3bcafa7a141cba" + _type = "action_controller/MultiDofFollowJointTrajectoryActionFeedback" + _has_header = True #flag to mark the presence of a Header object + _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== + +Header header +actionlib_msgs/GoalStatus status +MultiDofFollowJointTrajectoryFeedback feedback + +================================================================================ +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.secs: seconds (stamp_secs) since epoch +# * stamp.nsecs: nanoseconds since stamp_secs +# 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: actionlib_msgs/GoalStatus +GoalID goal_id +uint8 status +uint8 PENDING = 0 # The goal has yet to be processed by the action server +uint8 ACTIVE = 1 # The goal is currently being processed by the action server +uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing + # and has since completed its execution (Terminal State) +uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State) +uint8 ABORTED = 4 # The goal was aborted during execution by the action server due + # to some failure (Terminal State) +uint8 REJECTED = 5 # The goal was rejected by the action server without being processed, + # because the goal was unattainable or invalid (Terminal State) +uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing + # and has not yet completed execution +uint8 RECALLING = 7 # The goal received a cancel request before it started executing, + # but the action server has not yet confirmed that the goal is canceled +uint8 RECALLED = 8 # The goal received a cancel request before it started executing + # and was successfully cancelled (Terminal State) +uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be + # sent over the wire by an action server + +#Allow for the user to associate a string with GoalStatus for debugging +string text + + +================================================================================ +MSG: actionlib_msgs/GoalID +# The stamp should store the time at which this goal was requested. +# It is used by an action server when it tries to preempt all +# goals that were requested before a certain time +time stamp + +# The id provides a way to associate feedback and +# result message with specific goal requests. The id +# specified must be unique. +string id + + +================================================================================ +MSG: action_controller/MultiDofFollowJointTrajectoryFeedback +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== +Header header +string[] joint_names +moveit_msgs/MultiDOFJointTrajectoryPoint desired +moveit_msgs/MultiDOFJointTrajectoryPoint actual +moveit_msgs/MultiDOFJointTrajectoryPoint error + + +================================================================================ +MSG: moveit_msgs/MultiDOFJointTrajectoryPoint +geometry_msgs/Transform[] transforms +duration time_from_start + +================================================================================ +MSG: geometry_msgs/Transform +# This represents the transform between two coordinate frames in free space. + +Vector3 translation +Quaternion rotation + +================================================================================ +MSG: geometry_msgs/Vector3 +# This represents a vector in free space. + +float64 x +float64 y +float64 z +================================================================================ +MSG: geometry_msgs/Quaternion +# This represents an orientation in free space in quaternion form. + +float64 x +float64 y +float64 z +float64 w + +""" + __slots__ = ['header','status','feedback'] + _slot_types = ['std_msgs/Header','actionlib_msgs/GoalStatus','action_controller/MultiDofFollowJointTrajectoryFeedback'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + header,status,feedback + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(MultiDofFollowJointTrajectoryActionFeedback, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.header is None: + self.header = std_msgs.msg.Header() + if self.status is None: + self.status = actionlib_msgs.msg.GoalStatus() + if self.feedback is None: + self.feedback = action_controller.msg.MultiDofFollowJointTrajectoryFeedback() + else: + self.header = std_msgs.msg.Header() + self.status = actionlib_msgs.msg.GoalStatus() + self.feedback = action_controller.msg.MultiDofFollowJointTrajectoryFeedback() + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) + _x = self.header.frame_id + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.pack(' 0x03000000 else False +import genpy +import struct + +import actionlib_msgs.msg +import geometry_msgs.msg +import moveit_msgs.msg +import std_msgs.msg +import genpy +import action_controller.msg + +class MultiDofFollowJointTrajectoryActionGoal(genpy.Message): + _md5sum = "1292bbe002476592a0f3166376533ba1" + _type = "action_controller/MultiDofFollowJointTrajectoryActionGoal" + _has_header = True #flag to mark the presence of a Header object + _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== + +Header header +actionlib_msgs/GoalID goal_id +MultiDofFollowJointTrajectoryGoal goal + +================================================================================ +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.secs: seconds (stamp_secs) since epoch +# * stamp.nsecs: nanoseconds since stamp_secs +# 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: actionlib_msgs/GoalID +# The stamp should store the time at which this goal was requested. +# It is used by an action server when it tries to preempt all +# goals that were requested before a certain time +time stamp + +# The id provides a way to associate feedback and +# result message with specific goal requests. The id +# specified must be unique. +string id + + +================================================================================ +MSG: action_controller/MultiDofFollowJointTrajectoryGoal +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== +# The joint trajectory to follow +moveit_msgs/MultiDOFJointTrajectory trajectory + +================================================================================ +MSG: moveit_msgs/MultiDOFJointTrajectory +# The header is used to specify the reference time for the trajectory durations +Header header + +#A representation of a multi-dof joint trajectory +string[] joint_names +MultiDOFJointTrajectoryPoint[] points + +================================================================================ +MSG: moveit_msgs/MultiDOFJointTrajectoryPoint +geometry_msgs/Transform[] transforms +duration time_from_start + +================================================================================ +MSG: geometry_msgs/Transform +# This represents the transform between two coordinate frames in free space. + +Vector3 translation +Quaternion rotation + +================================================================================ +MSG: geometry_msgs/Vector3 +# This represents a vector in free space. + +float64 x +float64 y +float64 z +================================================================================ +MSG: geometry_msgs/Quaternion +# This represents an orientation in free space in quaternion form. + +float64 x +float64 y +float64 z +float64 w + +""" + __slots__ = ['header','goal_id','goal'] + _slot_types = ['std_msgs/Header','actionlib_msgs/GoalID','action_controller/MultiDofFollowJointTrajectoryGoal'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + header,goal_id,goal + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(MultiDofFollowJointTrajectoryActionGoal, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.header is None: + self.header = std_msgs.msg.Header() + if self.goal_id is None: + self.goal_id = actionlib_msgs.msg.GoalID() + if self.goal is None: + self.goal = action_controller.msg.MultiDofFollowJointTrajectoryGoal() + else: + self.header = std_msgs.msg.Header() + self.goal_id = actionlib_msgs.msg.GoalID() + self.goal = action_controller.msg.MultiDofFollowJointTrajectoryGoal() + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) + _x = self.header.frame_id + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.pack(' 0x03000000 else False +import genpy +import struct + +import action_controller.msg +import genpy +import actionlib_msgs.msg +import std_msgs.msg + +class MultiDofFollowJointTrajectoryActionResult(genpy.Message): + _md5sum = "bce83d50f7bb28226801436caf0e2043" + _type = "action_controller/MultiDofFollowJointTrajectoryActionResult" + _has_header = True #flag to mark the presence of a Header object + _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== + +Header header +actionlib_msgs/GoalStatus status +MultiDofFollowJointTrajectoryResult result + +================================================================================ +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.secs: seconds (stamp_secs) since epoch +# * stamp.nsecs: nanoseconds since stamp_secs +# 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: actionlib_msgs/GoalStatus +GoalID goal_id +uint8 status +uint8 PENDING = 0 # The goal has yet to be processed by the action server +uint8 ACTIVE = 1 # The goal is currently being processed by the action server +uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing + # and has since completed its execution (Terminal State) +uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State) +uint8 ABORTED = 4 # The goal was aborted during execution by the action server due + # to some failure (Terminal State) +uint8 REJECTED = 5 # The goal was rejected by the action server without being processed, + # because the goal was unattainable or invalid (Terminal State) +uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing + # and has not yet completed execution +uint8 RECALLING = 7 # The goal received a cancel request before it started executing, + # but the action server has not yet confirmed that the goal is canceled +uint8 RECALLED = 8 # The goal received a cancel request before it started executing + # and was successfully cancelled (Terminal State) +uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be + # sent over the wire by an action server + +#Allow for the user to associate a string with GoalStatus for debugging +string text + + +================================================================================ +MSG: actionlib_msgs/GoalID +# The stamp should store the time at which this goal was requested. +# It is used by an action server when it tries to preempt all +# goals that were requested before a certain time +time stamp + +# The id provides a way to associate feedback and +# result message with specific goal requests. The id +# specified must be unique. +string id + + +================================================================================ +MSG: action_controller/MultiDofFollowJointTrajectoryResult +# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== +int32 error_code +int32 SUCCESSFUL = 0 +int32 INVALID_GOAL = -1 +int32 INVALID_JOINTS = -2 +int32 OLD_HEADER_TIMESTAMP = -3 +int32 PATH_TOLERANCE_VIOLATED = -4 +int32 GOAL_TOLERANCE_VIOLATED = -5 + + +""" + __slots__ = ['header','status','result'] + _slot_types = ['std_msgs/Header','actionlib_msgs/GoalStatus','action_controller/MultiDofFollowJointTrajectoryResult'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + header,status,result + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(MultiDofFollowJointTrajectoryActionResult, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.header is None: + self.header = std_msgs.msg.Header() + if self.status is None: + self.status = actionlib_msgs.msg.GoalStatus() + if self.result is None: + self.result = action_controller.msg.MultiDofFollowJointTrajectoryResult() + else: + self.header = std_msgs.msg.Header() + self.status = actionlib_msgs.msg.GoalStatus() + self.result = action_controller.msg.MultiDofFollowJointTrajectoryResult() + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) + _x = self.header.frame_id + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.pack(' 0x03000000 else False +import genpy +import struct + +import moveit_msgs.msg +import geometry_msgs.msg +import genpy +import std_msgs.msg + +class MultiDofFollowJointTrajectoryFeedback(genpy.Message): + _md5sum = "4d0c4cf9e9eeebe573320d2109a20899" + _type = "action_controller/MultiDofFollowJointTrajectoryFeedback" + _has_header = True #flag to mark the presence of a Header object + _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== +Header header +string[] joint_names +moveit_msgs/MultiDOFJointTrajectoryPoint desired +moveit_msgs/MultiDOFJointTrajectoryPoint actual +moveit_msgs/MultiDOFJointTrajectoryPoint error + + +================================================================================ +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.secs: seconds (stamp_secs) since epoch +# * stamp.nsecs: nanoseconds since stamp_secs +# 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: moveit_msgs/MultiDOFJointTrajectoryPoint +geometry_msgs/Transform[] transforms +duration time_from_start + +================================================================================ +MSG: geometry_msgs/Transform +# This represents the transform between two coordinate frames in free space. + +Vector3 translation +Quaternion rotation + +================================================================================ +MSG: geometry_msgs/Vector3 +# This represents a vector in free space. + +float64 x +float64 y +float64 z +================================================================================ +MSG: geometry_msgs/Quaternion +# This represents an orientation in free space in quaternion form. + +float64 x +float64 y +float64 z +float64 w + +""" + __slots__ = ['header','joint_names','desired','actual','error'] + _slot_types = ['std_msgs/Header','string[]','moveit_msgs/MultiDOFJointTrajectoryPoint','moveit_msgs/MultiDOFJointTrajectoryPoint','moveit_msgs/MultiDOFJointTrajectoryPoint'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + header,joint_names,desired,actual,error + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(MultiDofFollowJointTrajectoryFeedback, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.header is None: + self.header = std_msgs.msg.Header() + if self.joint_names is None: + self.joint_names = [] + if self.desired is None: + self.desired = moveit_msgs.msg.MultiDOFJointTrajectoryPoint() + if self.actual is None: + self.actual = moveit_msgs.msg.MultiDOFJointTrajectoryPoint() + if self.error is None: + self.error = moveit_msgs.msg.MultiDOFJointTrajectoryPoint() + else: + self.header = std_msgs.msg.Header() + self.joint_names = [] + self.desired = moveit_msgs.msg.MultiDOFJointTrajectoryPoint() + self.actual = moveit_msgs.msg.MultiDOFJointTrajectoryPoint() + self.error = moveit_msgs.msg.MultiDOFJointTrajectoryPoint() + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) + _x = self.header.frame_id + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.pack(' 0x03000000 else False +import genpy +import struct + +import moveit_msgs.msg +import geometry_msgs.msg +import genpy +import std_msgs.msg + +class MultiDofFollowJointTrajectoryGoal(genpy.Message): + _md5sum = "70ac13f44ce8dd6df296056f97e1a1fa" + _type = "action_controller/MultiDofFollowJointTrajectoryGoal" + _has_header = False #flag to mark the presence of a Header object + _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== +# The joint trajectory to follow +moveit_msgs/MultiDOFJointTrajectory trajectory + +================================================================================ +MSG: moveit_msgs/MultiDOFJointTrajectory +# The header is used to specify the reference time for the trajectory durations +Header header + +#A representation of a multi-dof joint trajectory +string[] joint_names +MultiDOFJointTrajectoryPoint[] points + +================================================================================ +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.secs: seconds (stamp_secs) since epoch +# * stamp.nsecs: nanoseconds since stamp_secs +# 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: moveit_msgs/MultiDOFJointTrajectoryPoint +geometry_msgs/Transform[] transforms +duration time_from_start + +================================================================================ +MSG: geometry_msgs/Transform +# This represents the transform between two coordinate frames in free space. + +Vector3 translation +Quaternion rotation + +================================================================================ +MSG: geometry_msgs/Vector3 +# This represents a vector in free space. + +float64 x +float64 y +float64 z +================================================================================ +MSG: geometry_msgs/Quaternion +# This represents an orientation in free space in quaternion form. + +float64 x +float64 y +float64 z +float64 w + +""" + __slots__ = ['trajectory'] + _slot_types = ['moveit_msgs/MultiDOFJointTrajectory'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + trajectory + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(MultiDofFollowJointTrajectoryGoal, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.trajectory is None: + self.trajectory = moveit_msgs.msg.MultiDOFJointTrajectory() + else: + self.trajectory = moveit_msgs.msg.MultiDOFJointTrajectory() + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_struct_3I.pack(_x.trajectory.header.seq, _x.trajectory.header.stamp.secs, _x.trajectory.header.stamp.nsecs)) + _x = self.trajectory.header.frame_id + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.pack(' 0x03000000 else False +import genpy +import struct + + +class MultiDofFollowJointTrajectoryResult(genpy.Message): + _md5sum = "6243274b5d629dc838814109754410d5" + _type = "action_controller/MultiDofFollowJointTrajectoryResult" + _has_header = False #flag to mark the presence of a Header object + _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ====== +int32 error_code +int32 SUCCESSFUL = 0 +int32 INVALID_GOAL = -1 +int32 INVALID_JOINTS = -2 +int32 OLD_HEADER_TIMESTAMP = -3 +int32 PATH_TOLERANCE_VIOLATED = -4 +int32 GOAL_TOLERANCE_VIOLATED = -5 + + +""" + # Pseudo-constants + SUCCESSFUL = 0 + INVALID_GOAL = -1 + INVALID_JOINTS = -2 + OLD_HEADER_TIMESTAMP = -3 + PATH_TOLERANCE_VIOLATED = -4 + GOAL_TOLERANCE_VIOLATED = -5 + + __slots__ = ['error_code'] + _slot_types = ['int32'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + error_code + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(MultiDofFollowJointTrajectoryResult, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.error_code is None: + self.error_code = 0 + else: + self.error_code = 0 + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + buff.write(_struct_i.pack(self.error_code)) + except struct.error as se: self._check_types(se) + except TypeError as te: self._check_types(te) + + def deserialize(self, str): + """ + unpack serialized message in str into this message instance + :param str: byte array of serialized message, ``str`` + """ + try: + end = 0 + start = end + end += 4 + (self.error_code,) = _struct_i.unpack(str[start:end]) + return self + except struct.error as e: + raise genpy.DeserializationError(e) #most likely buffer underfill + + + def serialize_numpy(self, buff, numpy): + """ + serialize message with numpy array types into buffer + :param buff: buffer, ``StringIO`` + :param numpy: numpy python module + """ + try: + buff.write(_struct_i.pack(self.error_code)) + except struct.error as se: self._check_types(se) + except TypeError as te: self._check_types(te) + + def deserialize_numpy(self, str, numpy): + """ + unpack serialized message in str into this message instance using numpy for array types + :param str: byte array of serialized message, ``str`` + :param numpy: numpy python module + """ + try: + end = 0 + start = end + end += 4 + (self.error_code,) = _struct_i.unpack(str[start:end]) + return self + except struct.error as e: + raise genpy.DeserializationError(e) #most likely buffer underfill + +_struct_I = genpy.struct_I +_struct_i = struct.Struct(" + +#include +#include + +#include + +#include + +namespace gazebo +{ + +class GazeboQuadrotorAerodynamics : public ModelPlugin +{ +public: + GazeboQuadrotorAerodynamics(); + virtual ~GazeboQuadrotorAerodynamics(); + +protected: + virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); + virtual void Reset(); + virtual void Update(); + +private: + /// \brief The parent World + physics::WorldPtr world; + + /// \brief The link referred to by this plugin + physics::LinkPtr link; + + ros::NodeHandle* node_handle_; + ros::CallbackQueue callback_queue_; + boost::thread callback_queue_thread_; + void QueueThread(); + + ros::Subscriber wind_subscriber_; + + geometry_msgs::Vector3 wind_; + void WindCallback(const geometry_msgs::Vector3ConstPtr&); + + math::Vector3 velocity, rate; + + std::string body_name_; + std::string namespace_; + std::string param_namespace_; + double control_rate_; + std::string wind_topic_; + + class DragModel; + DragModel *drag_model_; + + common::Time last_time_; + + boost::mutex wind_mutex_; + + // Pointer to the update event connection + event::ConnectionPtr updateConnection; +}; + +} + +#endif // HECTOR_GAZEBO_PLUGINS_QUADROTOR_AERODYNAMICS_H diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/include/hector_quadrotor_controller/quadrotor_propulsion.h b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/include/hector_quadrotor_controller/quadrotor_propulsion.h new file mode 100644 index 0000000..a956a15 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/include/hector_quadrotor_controller/quadrotor_propulsion.h @@ -0,0 +1,120 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#ifndef HECTOR_GAZEBO_PLUGINS_QUADROTOR_PROPULSION_H +#define HECTOR_GAZEBO_PLUGINS_QUADROTOR_PROPULSION_H + +#include + +#include +#include + +#include +#include +#include +#include + +#include +#include +#include +#include + +#include + +namespace gazebo +{ + +class GazeboQuadrotorPropulsion : public ModelPlugin +{ +public: + GazeboQuadrotorPropulsion(); + virtual ~GazeboQuadrotorPropulsion(); + +protected: + virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); + virtual void Reset(); + virtual void Update(); + +private: + /// \brief The parent World + physics::WorldPtr world; + + /// \brief The link referred to by this plugin + physics::LinkPtr link; + + ros::NodeHandle* node_handle_; + ros::CallbackQueue callback_queue_; + boost::thread callback_queue_thread_; + void QueueThread(); + + ros::Publisher trigger_publisher_; + ros::Subscriber voltage_subscriber_; + ros::Publisher wrench_publisher_; + ros::Publisher supply_publisher_; + ros::Publisher motor_status_publisher_; + + hector_uav_msgs::MotorPWMConstPtr motor_voltage_; + std::queue new_motor_voltages_; + geometry_msgs::Wrench wrench_; + hector_uav_msgs::Supply supply_; + hector_uav_msgs::MotorStatus motor_status_; + void CommandCallback(const hector_uav_msgs::MotorPWMConstPtr&); + + math::Vector3 velocity, rate; + + std::string body_name_; + std::string namespace_; + std::string param_namespace_; + std::string trigger_topic_; + std::string voltage_topic_; + std::string wrench_topic_; + std::string supply_topic_; + std::string status_topic_; + common::Time control_delay_; + common::Time control_tolerance_; + + class PropulsionModel; + PropulsionModel *propulsion_model_; + + common::Time last_time_; + common::Time last_trigger_time_; + common::Time last_control_time_; + common::Time last_motor_status_time_; + + boost::condition command_condition_; + boost::mutex command_mutex_; + + // Pointer to the update event connection + event::ConnectionPtr updateConnection; + + UpdateTimer controlTimer; +}; + +} + +#endif // HECTOR_GAZEBO_PLUGINS_QUADROTOR_PROPULSION_H diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/mainpage.dox b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/mainpage.dox new file mode 100644 index 0000000..aaff493 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/mainpage.dox @@ -0,0 +1,26 @@ +/** +\mainpage +\htmlinclude manifest.html + +\b hector_quadrotor_controller is ... + + + + +\section codeapi Code API + + + + +*/ diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/manifest.xml b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/manifest.xml new file mode 100644 index 0000000..2adbc1a --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/manifest.xml @@ -0,0 +1,30 @@ + + + + hector_quadrotor_controller provides plugins for a quadrotor controller in gazebo. + hector_quadrotor_aerodynamics simulates the quadrotor's motor, propeller and + drag dynamics, given the four input voltages and the wind vector. + + + Johannes Meyer and Alexander Sendobry + BSD + + http://ros.org/wiki/hector_quadrotor_controller + + + + + + + + + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/matlab/CMakeLists.txt b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/matlab/CMakeLists.txt new file mode 100644 index 0000000..cc9e63b --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/matlab/CMakeLists.txt @@ -0,0 +1,27 @@ +find_program(MATLAB NAMES matlab) + +if (MATLAB) + message(STATUS "Using Matlab at ${MATLAB}") + file(GLOB MFILES "*.m") + + include_directories(codegen/lib) + + add_custom_command( + OUTPUT quadrotorPropulsion.a quadrotorDrag.a + COMMAND ${MATLAB} -nojvm -nodesktop -nosplash -r "compile_all; quit;" + COMMAND ${CMAKE_COMMAND} -E copy codegen/lib/quadrotorPropulsion/quadrotorPropulsion.a ${CMAKE_CURRENT_BINARY_DIR} + COMMAND ${CMAKE_COMMAND} -E copy codegen/lib/quadrotorDrag/quadrotorDrag.a ${CMAKE_CURRENT_BINARY_DIR} + DEPENDS ${MFILES} + WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR} + VERBATIM + ) + + add_custom_target(quadrotor_model + DEPENDS quadrotorPropulsion.a quadrotorDrag.a + ) + +else(MATLAB) + message(WARNING "Matlab not found") +endif(MATLAB) + +set_directory_properties(PROPERTIES ADDITIONAL_MAKE_CLEAN_FILES ${CMAKE_CURRENT_SOURCE_DIR}/codegen) diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/matlab/compile_all.m b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/matlab/compile_all.m new file mode 100644 index 0000000..c771b06 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/matlab/compile_all.m @@ -0,0 +1,8 @@ +rtw_config = coder.config('LIB'); +rtw_config.TargetLang = 'C'; +rtw_config.CodeReplacementLibrary = 'C89/C90 (ANSI)'; +rtw_config.CCompilerOptimization = 'On'; + +codegen -config rtw_config -v quadrotorPropulsion motorspeed -o quadrotorPropulsion +codegen -config rtw_config -v quadrotorDrag -o quadrotorDrag + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/matlab/motorspeed.m b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/matlab/motorspeed.m new file mode 100644 index 0000000..2bc3f66 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/matlab/motorspeed.m @@ -0,0 +1,71 @@ +function [M_e,I,xpred] = motorspeed(xin, uin, parameter, dt) +%#eml + +assert(isa(xin,'double')); +assert(all(size(xin) == 1)); + +assert(isa(uin,'double')); +assert(all(size(uin) == [2 1])); + +assert(isa(parameter,'struct')); +assert(isa(parameter.k_m,'double')); +assert(isa(parameter.k_t,'double')); + +assert(isa(parameter.CT2s,'double')); +assert(isa(parameter.CT1s,'double')); +assert(isa(parameter.CT0s,'double')); + +assert(isa(parameter.Psi,'double')); +assert(isa(parameter.J_M,'double')); +assert(isa(parameter.R_A,'double')); + +assert(isa(parameter.alpha_m,'double')); +assert(isa(parameter.beta_m,'double')); + +assert(isa(parameter.l_m,'double')); + +assert(isa(dt,'double')); +assert(all(size(dt) == 1)); + +eml.cstructname(parameter,'PropulsionParameters'); + +% Identification of Roxxy2827-34 motor with 10x4.5 propeller +Psi = parameter.Psi; +J_M = parameter.J_M; +R_A = parameter.R_A; +k_m = parameter.k_m; +k_t = parameter.k_t; +alpha_m = parameter.alpha_m; +beta_m = parameter.beta_m; + +% temporarily used Expressions +U = uin(1); +F_m = uin(2); +omega_m = xin(1); + +M_m = k_t*F_m + k_m*omega_m; + +temp = (U*beta_m-Psi*omega_m)./(2*R_A); +I = temp + sqrt(temp.^2 + (U*alpha_m./R_A)); +M_e = Psi*I; % electrical torque motor 1-4 + +% new version +fx = 1/J_M.*(M_e - M_m); + +% old version +% fx = (Psi/R_A*(U-Psi*omega_m) - M_m)/J_M; +% A = -(Psi^2/R_A)/J_M; +% B(1) = Psi/(J_M*R_A); +% B(2) = -1/J_M; + +% system outputs. Use euler solver to predict next time step +% predicted motor speed +xpred = xin + dt*fx; +% electric torque +%y = [M_e I]; + +% system jacobian +% A = 1 + dt*A; +% input jacobian +% B = A*B*dt; + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/matlab/parameter_QK_propulsion.m b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/matlab/parameter_QK_propulsion.m new file mode 100644 index 0000000..fbb1e87 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/matlab/parameter_QK_propulsion.m @@ -0,0 +1,56 @@ +% init-file for quadrotor +rho = 1.225; % [kg/m³] Dichte der Luft +g = 9.81; % [m/s²] Erdbeschleunigung +w_e = 7.2921151467e-5; % [rad/s] Erddrehrate +c_w = 0.9228*2/3; % [1] Widerstandsbeiwert bei translatorischer Bewegung +c_M = 0.9228*4/5; % [1] Widerstandsbeiwert bei rotatorischer Bewegung +R_p = 0.1269; % [m] Rotorradius +A_xy = 2*0.023*0.2 + .11*0.12; % [m²] Fläche in x-/y-Achse +A_z = 4*0.023*0.2 + .12^2 + 0*R_p^2*pi*4; % [m²] Fläche in z-Achse, ohne Rotoren +l_m = 0.275; % [m] Abstand Motor zu Kern +z_m = -0.03; % [m] z-Abstand Propeller-Schwerpunkt +m = 1.477; % [kg] Gesamtmasse des Quadrokopters, ohne Cam, +40g mit Cam +m_M = 0.072; % [kg] Masse Motor + Propeller +m_R = 0.044; % [kg] Masse Rohr +m_C = m - 4*m_M - 2*m_R; % [kg] Masse Kern +I_x = 2*m_M*l_m^2 + 1/12*m_C*(2*.12^2) + 1/12*m_R*(2*l_m)^2; % [kg m²] Massenträgheitsmoment um x-Achse +I_y = I_x; % [kg m²] Massenträgheitsmoment um y-Achse +I_z = 4*m_M*l_m^2 + 1/12*m_C*(2*.12^2) + 2*1/12*m_R*(2*l_m)^2; % [kg m²] Massenträgheitsmoment um z-Achse +inertia = diag([I_x I_y I_z]); % [kg m²] Massenträgheitstensor des Quadrokopters +U_max = 14.8; % [V] Maximale Eingangsspannung für Motor + +% Identification of Roxxy2827-34 motor with 10x4.5 propeller +J_M = 2.5730480633e-5; % [kgm^2] + +% identification from 27.11.2012 with old data, best data +R_A = 0.201084219222241; +Psi = 0.007242179827506; + +% new controller model: u_motor = U_in*(alpha_m/i + beta_m) +alpha_m = 0.104863758313889; +beta_m = 0.549262344777900; + +%% Thrust T = CT*rho*pi*R^4*omega^2 +% J = v_z_Motor*60/(UPM*2*R) = v_z*pi/(R_p*w_M) % Fortschrittsgrad +% CT = CT3*J^3 + CT2*J^2 + CT1*J + CT0 + +% witz normalized rotational speed of motor --> increased matrix condition +CT2s = -1.3077e-2; +CT1s = -2.5224e-4; +CT0s = 1.5393579917e-5; % identification from 15.11.2012 +% torque constant, i.e. Torque = k_t*Thrust +k_t = 0.018228626171312; +k_m = -7.011631909766668e-5; + +%% Drag coefficients + +C_wxy = 1/2*A_xy*rho*c_w; % bezogene Widerstandsgröße udot, vdot +C_wz = 1/2*A_z*rho*c_w; % bezogene Widerstandsgröße wdot +C_mxy = 1/2*A_z*rho*c_M; % bezogene Widerstandsgröße pdot, qdot +C_mz = 1/2*A_xy*rho*c_M; % bezogene Widerstandsgröße rdot + +%% Initial conditions + +F0 = m*g; +w0 = sqrt(m*g/4/CT0s); +U0 = R_A/Psi*k_t*m*g/4 + Psi*w0; diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/matlab/quadrotorDrag.m b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/matlab/quadrotorDrag.m new file mode 100644 index 0000000..64a66c4 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/matlab/quadrotorDrag.m @@ -0,0 +1,50 @@ +function y = quadrotorDrag(uin, parameter, dt) +%#eml + +assert(isa(uin,'double')); +assert(all(size(uin) == [6 1])); + +assert(isa(parameter,'struct')); +assert(isa(parameter.C_wxy,'double')); +assert(isa(parameter.C_wz,'double')); + +assert(isa(parameter.C_mxy,'double')); +assert(isa(parameter.C_mz,'double')); + + +assert(isa(dt,'double')); +assert(all(size(dt) == 1)); + +eml.cstructname(parameter,'DragParameters'); + +% initialize vectors +y = zeros(6,1); + +% Input variables +u = uin(1); +v = uin(2); +w = uin(3); +p = uin(4); +q = uin(5); +r = uin(6); + +% Constants +C_wxy = parameter.C_wxy; +C_wz = parameter.C_wz; +C_mxy = parameter.C_mxy; +C_mz = parameter.C_mz; + +% temporarily used vector +absoluteVelocity = sqrt(u^2 + v^2 + w^2); +absoluteAngularVelocity = sqrt(p^2 + q^2 + r^2); + +% system outputs +% calculate drag force +y(1) = C_wxy* absoluteVelocity*u; +y(2) = C_wxy* absoluteVelocity*v; +y(3) = C_wz * absoluteVelocity*w; + +% calculate draq torque +y(4) = C_mxy* absoluteAngularVelocity*p; +y(5) = C_mxy* absoluteAngularVelocity*q; +y(6) = C_mz * absoluteAngularVelocity*r; diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/matlab/quadrotorPropulsion.m b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/matlab/quadrotorPropulsion.m new file mode 100644 index 0000000..f90509d --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/matlab/quadrotorPropulsion.m @@ -0,0 +1,98 @@ +function [y,xpred] = quadrotorPropulsion(xin, uin, parameter, dt) +%#eml + +assert(isa(xin,'double')); +assert(all(size(xin) == [4 1])); + +assert(isa(uin,'double')); +assert(all(size(uin) == [10 1])); + +assert(isa(parameter,'struct')); +assert(isa(parameter.k_m,'double')); +assert(isa(parameter.k_t,'double')); + +assert(isa(parameter.CT2s,'double')); +assert(isa(parameter.CT1s,'double')); +assert(isa(parameter.CT0s,'double')); + +assert(isa(parameter.Psi,'double')); +assert(isa(parameter.J_M,'double')); +assert(isa(parameter.R_A,'double')); + +assert(isa(parameter.alpha_m,'double')); +assert(isa(parameter.beta_m,'double')); + +assert(isa(parameter.l_m,'double')); + +assert(isa(dt,'double')); +assert(all(size(dt) == 1)); + +eml.cstructname(parameter,'PropulsionParameters'); + +% initialize vectors +xpred = xin; % motorspeed +v_1 = zeros(4,1); +y = zeros(14,1); +F_m = zeros(4,1); +U = zeros(4,1); +M_e = zeros(4,1); +I = zeros(4,1); +F = zeros(3,1); + +% Input variables +u = uin(1); +v = uin(2); +w = uin(3); +p = uin(4); +q = uin(5); +r = uin(6); +U(1) = uin(7); +U(2) = uin(8); +U(3) = uin(9); +U(4) = uin(10); + +% Constants +CT0s = parameter.CT0s; +CT1s = parameter.CT1s; +CT2s = parameter.CT2s; +k_t = parameter.k_t; +l_m = parameter.l_m; +Psi = parameter.Psi; + +v_1(1) = - w + l_m*q; +v_1(2) = - w - l_m*p; +v_1(3) = - w - l_m*q; +v_1(4) = - w + l_m*p; + +% calculate thrust for all 4 rotors +for i = 1:4 + % if the flow speed at infinity is negative + if v_1(i) < 0 + F_m(i) = CT2s*v_1(i).^2 + CT1s*v_1(i).*xin(i) + CT0s*xin(i).^2; + % if the flow speed at infinity is positive + else + F_m(i) = -CT2s*v_1(i).^2 + CT1s*v_1(i).*xin(i) + CT0s*xin(i).^2; + end + % sum up all rotor forces + F(3) = F(3) + F_m(i) ; + + [M_e(i),I(i),xpred(i)] = motorspeed(xin(i), [U(i) F_m(i)], parameter, dt); +end + +% System output, i.e. force and torque of quadrotor +y(1) = F(1); +y(2) = F(2); +y(3) = F(3); + +% torque for rotating quadrocopter around x-axis is the mechanical torque +y(4) = (F_m(4)-F_m(2))*l_m; +% torque for rotating quadrocopter around y-axis is the mechanical torque +y(5) = (F_m(1)-F_m(3))*l_m; +% torque for rotating quadrocopter around z-axis is the electrical torque +y(6) = (-M_e(1)-M_e(3)+M_e(2)+M_e(4)); + +% motor speeds (rad/s) +y(7:10) = xpred(1:4); + +% motor current (A) +y(11:14) = I(1:4); % M_e(1:4) / Psi; diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/param/quadrotor_aerodynamics.yaml b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/param/quadrotor_aerodynamics.yaml new file mode 100644 index 0000000..3c4e3cf --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/param/quadrotor_aerodynamics.yaml @@ -0,0 +1,5 @@ +quadrotor_aerodynamics: + C_wxy: 0.12 + C_wz: 0.1 + C_mxy: 0.074156208000000 + C_mz: 0.050643264000000 \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/param/robbe_2827-34_epp1045.yaml b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/param/robbe_2827-34_epp1045.yaml new file mode 100644 index 0000000..4a2e1ad --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/param/robbe_2827-34_epp1045.yaml @@ -0,0 +1,14 @@ +quadrotor_propulsion: + Psi: 0.007242179827506 + J_M: 2.573048063300000e-5 + R_A: 0.201084219222241 + k_t: 0.015336864714397 + k_m: -7.011631909766668e-5 + alpha_m: 0.104863758313889 + beta_m: 0.549262344777900 + + CT2s: -1.3077e-2 + CT1s: -2.5224e-4 + CT0s: 1.538190483976698e-5 + + l_m: 0.275 diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/param/robbe_2827-34_epp1245.yaml b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/param/robbe_2827-34_epp1245.yaml new file mode 100644 index 0000000..fbd8ed0 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/param/robbe_2827-34_epp1245.yaml @@ -0,0 +1,11 @@ +quadrotor_propulsion: + Psi: 0.007242179827506 + J_M: 4.142069415e-05 + R_A: 0.201084219222241 + k_t: 0.01732804081 + + CT2s: -2.3491553043010e-2 + CT1s: -4.531245193522030e-04 + CT0s: 2.744543453e-05 + + l_m: 0.275 diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/src/quadrotor_aerodynamics.cpp b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/src/quadrotor_aerodynamics.cpp new file mode 100644 index 0000000..8f6da35 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/src/quadrotor_aerodynamics.cpp @@ -0,0 +1,216 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#include +#include +#include + +extern "C" { + #include "quadrotorDrag/quadrotorDrag.h" + #include "quadrotorDrag/quadrotorDrag_initialize.h" +} + +#include + +namespace gazebo { + +using namespace common; +using namespace math; + +template static inline T checknan(const T& value, const std::string& text = "") { + if (!(value == value)) { + if (!text.empty()) std::cerr << text << " contains **!?* Nan values!" << std::endl; + return T(); + } + return value; +} + +// extern void quadrotorDrag(const real_T uin[6], const DragParameters parameter, real_T dt, real_T y[6]); +struct GazeboQuadrotorAerodynamics::DragModel { + DragParameters parameters_; + boost::array u; + boost::array y; +}; + +GazeboQuadrotorAerodynamics::GazeboQuadrotorAerodynamics() +{ + // initialize drag model + quadrotorDrag_initialize(); + drag_model_ = new DragModel; +} + +//////////////////////////////////////////////////////////////////////////////// +// Destructor +GazeboQuadrotorAerodynamics::~GazeboQuadrotorAerodynamics() +{ + event::Events::DisconnectWorldUpdateBegin(updateConnection); + node_handle_->shutdown(); + callback_queue_thread_.join(); + delete node_handle_; + + delete drag_model_; +} + +//////////////////////////////////////////////////////////////////////////////// +// Load the controller +void GazeboQuadrotorAerodynamics::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + world = _model->GetWorld(); + link = _model->GetLink(); + + // load parameters + if (!_sdf->HasElement("robotNamespace")) + namespace_.clear(); + else + namespace_ = _sdf->GetElement("robotNamespace")->GetValueString() + "/"; + + if (!_sdf->HasElement("paramNamespace")) + param_namespace_ = "~/quadrotor_aerodynamics/"; + else + param_namespace_ = _sdf->GetElement("paramNamespace")->GetValueString() + "/"; + + if (!_sdf->HasElement("windTopicName")) + wind_topic_ = "wind"; + else + wind_topic_ = _sdf->GetElement("windTopicName")->GetValueString(); + + // start ros node + if (!ros::isInitialized()) + { + int argc = 0; + char **argv = NULL; + ros::init(argc,argv,"gazebo",ros::init_options::NoSigintHandler|ros::init_options::AnonymousName); + } + + node_handle_ = new ros::NodeHandle(namespace_); + + // subscribe command + if (!wind_topic_.empty()) + { + ros::SubscribeOptions ops = ros::SubscribeOptions::create( + wind_topic_, 1, + boost::bind(&GazeboQuadrotorAerodynamics::WindCallback, this, _1), + ros::VoidPtr(), &callback_queue_); + wind_subscriber_ = node_handle_->subscribe(ops); + } + + callback_queue_thread_ = boost::thread( boost::bind( &GazeboQuadrotorAerodynamics::QueueThread,this ) ); + + // get model parameters + ros::NodeHandle param(param_namespace_); + param.getParam("C_wxy", drag_model_->parameters_.C_wxy); + param.getParam("C_wz", drag_model_->parameters_.C_wz); + param.getParam("C_mxy", drag_model_->parameters_.C_mxy); + param.getParam("C_mz", drag_model_->parameters_.C_mz); + + std::cout << "Loaded the following quadrotor drag model parameters from namespace " << param.getNamespace() << ":" << std::endl; + std::cout << "C_wxy = " << drag_model_->parameters_.C_wxy << std::endl; + std::cout << "C_wz = " << drag_model_->parameters_.C_wz << std::endl; + std::cout << "C_mxy = " << drag_model_->parameters_.C_mxy << std::endl; + std::cout << "C_mz = " << drag_model_->parameters_.C_mz << std::endl; + + // New Mechanism for Updating every World Cycle + // Listen to the update event. This event is broadcast every + // simulation iteration. + updateConnection = event::Events::ConnectWorldUpdateBegin( + boost::bind(&GazeboQuadrotorAerodynamics::Update, this)); +} + +//////////////////////////////////////////////////////////////////////////////// +// Callbacks +void GazeboQuadrotorAerodynamics::WindCallback(const geometry_msgs::Vector3ConstPtr& wind) +{ + boost::mutex::scoped_lock lock(wind_mutex_); + wind_ = *wind; +} + +//////////////////////////////////////////////////////////////////////////////// +// Update the controller +void GazeboQuadrotorAerodynamics::Update() +{ + Vector3 force(0.0, 0.0, 0.0), torque(0.0, 0.0, 0.0); + boost::mutex::scoped_lock lock(wind_mutex_); + + // Get simulator time + Time current_time = world->GetSimTime(); + Time dt = current_time - last_time_; + last_time_ = current_time; + if (dt <= 0.0) return; + + // Get new commands/state + // callback_queue_.callAvailable(); + + // fill input vector u for drag model + velocity = link->GetRelativeLinearVel(); + rate = link->GetRelativeAngularVel(); + drag_model_->u[0] = (velocity.x - wind_.x); + drag_model_->u[1] = -(velocity.y - wind_.y); + drag_model_->u[2] = -(velocity.z - wind_.z); + drag_model_->u[3] = rate.x; + drag_model_->u[4] = -rate.y; + drag_model_->u[5] = -rate.z; + +// std::cout << "u = [ "; +// for(std::size_t i = 0; i < drag_model_->u.size(); ++i) +// std::cout << drag_model_->u[i] << " "; +// std::cout << "]" << std::endl; + + checknan(drag_model_->u, "drag model input"); + + // update drag model + quadrotorDrag(drag_model_->u.data(), drag_model_->parameters_, dt.Double(), drag_model_->y.data()); + force = force - checknan(Vector3(drag_model_->y[0], -drag_model_->y[1], -drag_model_->y[2]), "drag model force"); + torque = torque - checknan(Vector3(drag_model_->y[3], -drag_model_->y[4], -drag_model_->y[5]), "drag model torque"); + + // set force and torque in gazebo + link->AddRelativeForce(force); + link->AddRelativeTorque(torque - link->GetInertial()->GetCoG().Cross(force)); +} + +//////////////////////////////////////////////////////////////////////////////// +// Reset the controller +void GazeboQuadrotorAerodynamics::Reset() +{ +} + +//////////////////////////////////////////////////////////////////////////////// +// custom callback queue thread +void GazeboQuadrotorAerodynamics::QueueThread() +{ + static const double timeout = 0.01; + + while (node_handle_->ok()) + { + callback_queue_.callAvailable(ros::WallDuration(timeout)); + } +} + +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN(GazeboQuadrotorAerodynamics) + +} // namespace gazebo diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/src/quadrotor_propulsion.cpp b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/src/quadrotor_propulsion.cpp new file mode 100644 index 0000000..ae4beea --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/src/quadrotor_propulsion.cpp @@ -0,0 +1,429 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#include +#include +#include + +#include + +extern "C" { + #include "quadrotorPropulsion/quadrotorPropulsion.h" + #include "quadrotorPropulsion/quadrotorPropulsion_initialize.h" +} + +#include + +namespace gazebo { + +using namespace common; +using namespace math; + +template static inline T checknan(const T& value, const std::string& text = "") { + if (!(value == value)) { + if (!text.empty()) std::cerr << text << " contains **!?* Nan values!" << std::endl; + return T(); + } + return value; +} + +// extern void quadrotorPropulsion(const real_T xin[4], const real_T uin[10], const PropulsionParameters parameter, real_T dt, real_T y[6], real_T xpred[4]); +struct GazeboQuadrotorPropulsion::PropulsionModel { + PropulsionParameters parameters_; + boost::array x; + boost::array x_pred; + boost::array u; + boost::array y; +}; + +GazeboQuadrotorPropulsion::GazeboQuadrotorPropulsion() +{ + // initialize propulsion model + quadrotorPropulsion_initialize(); + propulsion_model_ = new PropulsionModel; +} + +//////////////////////////////////////////////////////////////////////////////// +// Destructor +GazeboQuadrotorPropulsion::~GazeboQuadrotorPropulsion() +{ + event::Events::DisconnectWorldUpdateBegin(updateConnection); + node_handle_->shutdown(); + callback_queue_thread_.join(); + delete node_handle_; + + delete propulsion_model_; +} + +//////////////////////////////////////////////////////////////////////////////// +// Load the controller +void GazeboQuadrotorPropulsion::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + world = _model->GetWorld(); + link = _model->GetLink(); + + // load parameters + if (!_sdf->HasElement("robotNamespace")) + namespace_.clear(); + else + namespace_ = _sdf->GetElement("robotNamespace")->GetValueString() + "/"; + + if (!_sdf->HasElement("paramNamespace")) + param_namespace_ = "~/quadrotor_propulsion/"; + else + param_namespace_ = _sdf->GetElement("paramNamespace")->GetValueString() + "/"; + + if (!_sdf->HasElement("triggerTopic")) + trigger_topic_ = "quadro/trigger"; + else + trigger_topic_ = _sdf->GetElement("triggerTopic")->GetValueString(); + + if (!_sdf->HasElement("voltageTopicName")) + voltage_topic_ = "motor_pwm"; + else + voltage_topic_ = _sdf->GetElement("voltageTopicName")->GetValueString(); + + if (!_sdf->HasElement("wrenchTopic")) + wrench_topic_ = "wrench_out"; + else + wrench_topic_ = _sdf->GetElement("wrenchTopic")->GetValueString(); + + if (!_sdf->HasElement("supplyTopic")) + supply_topic_ = "supply"; + else + supply_topic_ = _sdf->GetElement("supplyTopic")->GetValueString(); + + if (!_sdf->HasElement("statusTopic")) + status_topic_ = "motor_status"; + else + status_topic_ = _sdf->GetElement("statusTopic")->GetValueString(); + + // set control timing parameters + controlTimer.Load(world, _sdf, "control"); + control_tolerance_ = Time(); + if (_sdf->HasElement("controlTolerance")) control_tolerance_ = _sdf->GetElement("controlTolerance")->GetValueDouble(); + control_delay_ = Time(); + if (_sdf->HasElement("controlDelay")) control_delay_ = _sdf->GetElement("controlDelay")->GetValueDouble(); + + // set initial supply voltage + supply_.voltage.resize(1); + supply_.voltage[0] = 14.8; + if (_sdf->HasElement("supplyVoltage")) supply_.voltage[0] = _sdf->GetElement("supplyVoltage")->GetValueDouble(); + + // start ros node + if (!ros::isInitialized()) + { + int argc = 0; + char **argv = NULL; + ros::init(argc,argv,"gazebo",ros::init_options::NoSigintHandler|ros::init_options::AnonymousName); + } + + node_handle_ = new ros::NodeHandle(namespace_); + + + // publish trigger + if (!trigger_topic_.empty()) + { + ros::AdvertiseOptions ops = ros::AdvertiseOptions::create( + trigger_topic_, 10, + ros::SubscriberStatusCallback(), ros::SubscriberStatusCallback(), + ros::VoidConstPtr(), &callback_queue_); + trigger_publisher_ = node_handle_->advertise(ops); + } + + // subscribe command + if (!voltage_topic_.empty()) + { + ros::SubscribeOptions ops = ros::SubscribeOptions::create( + voltage_topic_, 1, + boost::bind(&GazeboQuadrotorPropulsion::CommandCallback, this, _1), + ros::VoidPtr(), &callback_queue_); + voltage_subscriber_ = node_handle_->subscribe(ops); + } + + // publish wrench + if (!wrench_topic_.empty()) + { + ros::AdvertiseOptions ops = ros::AdvertiseOptions::create( + wrench_topic_, 10, + ros::SubscriberStatusCallback(), ros::SubscriberStatusCallback(), + ros::VoidConstPtr(), &callback_queue_); + wrench_publisher_ = node_handle_->advertise(ops); + } + + // publish and latch supply + if (!supply_topic_.empty()) + { + ros::AdvertiseOptions ops = ros::AdvertiseOptions::create( + supply_topic_, 10, + ros::SubscriberStatusCallback(), ros::SubscriberStatusCallback(), + ros::VoidConstPtr(), &callback_queue_); + ops.latch = true; + supply_publisher_ = node_handle_->advertise(ops); + + supply_publisher_.publish(supply_); + } + + // publish motor_status + if (!status_topic_.empty()) + { + ros::AdvertiseOptions ops = ros::AdvertiseOptions::create( + status_topic_, 10, + ros::SubscriberStatusCallback(), ros::SubscriberStatusCallback(), + ros::VoidConstPtr(), &callback_queue_); + motor_status_publisher_ = node_handle_->advertise(ops); + } + + // callback_queue_thread_ = boost::thread( boost::bind( &GazeboQuadrotorPropulsion::QueueThread,this ) ); + + Reset(); + + // get model parameters + ros::NodeHandle param(param_namespace_); + param.getParam("k_m", propulsion_model_->parameters_.k_m); + param.getParam("k_t", propulsion_model_->parameters_.k_t); + param.getParam("CT0s", propulsion_model_->parameters_.CT0s); + param.getParam("CT1s", propulsion_model_->parameters_.CT1s); + param.getParam("CT2s", propulsion_model_->parameters_.CT2s); + param.getParam("J_M", propulsion_model_->parameters_.J_M); + param.getParam("l_m", propulsion_model_->parameters_.l_m); + param.getParam("Psi", propulsion_model_->parameters_.Psi); + param.getParam("R_A", propulsion_model_->parameters_.R_A); + param.getParam("alpha_m", propulsion_model_->parameters_.alpha_m); + param.getParam("beta_m", propulsion_model_->parameters_.beta_m); + + std::cout << "Loaded the following quadrotor propulsion model parameters from namespace " << param.getNamespace() << ":" << std::endl; + std::cout << "k_m = " << propulsion_model_->parameters_.k_m << std::endl; + std::cout << "k_t = " << propulsion_model_->parameters_.k_t << std::endl; + std::cout << "CT2s = " << propulsion_model_->parameters_.CT2s << std::endl; + std::cout << "CT1s = " << propulsion_model_->parameters_.CT1s << std::endl; + std::cout << "CT0s = " << propulsion_model_->parameters_.CT0s << std::endl; + std::cout << "Psi = " << propulsion_model_->parameters_.Psi << std::endl; + std::cout << "J_M = " << propulsion_model_->parameters_.J_M << std::endl; + std::cout << "R_A = " << propulsion_model_->parameters_.R_A << std::endl; + std::cout << "l_m = " << propulsion_model_->parameters_.l_m << std::endl; + std::cout << "alpha_m = " << propulsion_model_->parameters_.alpha_m << std::endl; + std::cout << "beta_m = " << propulsion_model_->parameters_.beta_m << std::endl; + + + // New Mechanism for Updating every World Cycle + // Listen to the update event. This event is broadcast every + // simulation iteration. + updateConnection = event::Events::ConnectWorldUpdateBegin( + boost::bind(&GazeboQuadrotorPropulsion::Update, this)); +} + +//////////////////////////////////////////////////////////////////////////////// +// Callbacks +void GazeboQuadrotorPropulsion::CommandCallback(const hector_uav_msgs::MotorPWMConstPtr& command) +{ + //boost::mutex::scoped_lock lock(command_mutex_); + if (!motor_status_.on) + ROS_WARN_NAMED("quadrotor_propulsion", "Received new motor command. Enabled motors."); + + motor_status_.on = true; + new_motor_voltages_.push(command); + ROS_DEBUG_STREAM_NAMED("quadrotor_propulsion", "Received motor command valid at " << command->header.stamp); + command_condition_.notify_all(); +} + +//////////////////////////////////////////////////////////////////////////////// +// Update the controller +void GazeboQuadrotorPropulsion::Update() +{ + Vector3 force, torque; + boost::mutex::scoped_lock lock(command_mutex_); + + // Get simulator time + Time current_time = world->GetSimTime(); + Time dt = current_time - last_time_; + last_time_ = current_time; + if (dt <= 0.0) return; + + // Send trigger + bool trigger = controlTimer.update(); + if (trigger && trigger_publisher_) { + rosgraph_msgs::Clock clock; + clock.clock = ros::Time(current_time.sec, current_time.nsec); + trigger_publisher_.publish(clock); + + ROS_DEBUG_STREAM_NAMED("quadrotor_propulsion", "Sent a trigger message at t = " << current_time.Double() << " (dt = " << (current_time - last_trigger_time_).Double() << ")"); + last_trigger_time_ = current_time; + } + + // Get new commands/state + callback_queue_.callAvailable(); + + do { + if (!new_motor_voltages_.empty()) { + hector_uav_msgs::MotorPWMConstPtr new_motor_voltage = new_motor_voltages_.front(); + Time new_time = Time(new_motor_voltage->header.stamp.sec, new_motor_voltage->header.stamp.nsec); + + if (new_time == Time() || (new_time >= current_time - control_delay_ - dt - control_tolerance_ && new_time <= current_time - control_delay_ + control_tolerance_)) { + motor_voltage_ = new_motor_voltage; + new_motor_voltages_.pop(); + last_control_time_ = current_time; + last_trigger_time_ = current_time; + ROS_DEBUG_STREAM_NAMED("quadrotor_propulsion", "Using motor command valid at t = " << new_time.Double() << "s for simulation step at t = " << current_time.Double() << "s (dt = " << (current_time - new_time).Double() << "s)"); + + // new motor command is too old: + } else if (new_time < current_time - control_delay_ - control_tolerance_) { + ROS_DEBUG_NAMED("quadrotor_propulsion", "command received was too old: %fs", (new_time - current_time).Double()); + new_motor_voltages_.pop(); + continue; + + // new motor command is too new: + } else { + // do nothing + } + + } else { + if (!motor_status_.on || !trigger) break; + + // if (new_motor_voltages_.empty() && motor_status_.on && control_period_ > 0 && current_time >= last_control_time_ + control_period_ + control_tolerance_) { + ROS_DEBUG_NAMED("quadrotor_propulsion", "Waiting for command at simulation step t = %fs... last update was %fs ago", current_time.Double(), (current_time - last_control_time_).Double()); + // if (command_condition_.timed_wait(lock, (ros::Duration(control_period_.sec, control_period_.nsec) * 100.0).toBoost())) continue; + callback_queue_.callAvailable(ros::WallDuration(1.0)); + if (!new_motor_voltages_.empty()) continue; + + ROS_ERROR_NAMED("quadrotor_propulsion", "Command timed out. Disabled motors."); + motor_status_.on = false; + } + + } while(false); + + // fill input vector u for propulsion model + velocity = link->GetRelativeLinearVel(); + rate = link->GetRelativeAngularVel(); + propulsion_model_->u[0] = velocity.x; + propulsion_model_->u[1] = -velocity.y; + propulsion_model_->u[2] = -velocity.z; + propulsion_model_->u[3] = rate.x; + propulsion_model_->u[4] = -rate.y; + propulsion_model_->u[5] = -rate.z; + if (motor_status_.on && motor_voltage_ && motor_voltage_->pwm.size() >= 4) { + propulsion_model_->u[6] = motor_voltage_->pwm[0] * supply_.voltage[0] / 255.0; + propulsion_model_->u[7] = motor_voltage_->pwm[1] * supply_.voltage[0] / 255.0; + propulsion_model_->u[8] = motor_voltage_->pwm[2] * supply_.voltage[0] / 255.0; + propulsion_model_->u[9] = motor_voltage_->pwm[3] * supply_.voltage[0] / 255.0; + } else { + propulsion_model_->u[6] = 0.0; + propulsion_model_->u[7] = 0.0; + propulsion_model_->u[8] = 0.0; + propulsion_model_->u[9] = 0.0; + } + +// std::cout << "u = [ "; +// for(std::size_t i = 0; i < propulsion_model_->u.size(); ++i) +// std::cout << propulsion_model_->u[i] << " "; +// std::cout << "]" << std::endl; + + checknan(propulsion_model_->u, "propulsion model input"); + checknan(propulsion_model_->x, "propulsion model state"); + + // update propulsion model + quadrotorPropulsion(propulsion_model_->x.data(), propulsion_model_->u.data(), propulsion_model_->parameters_, dt.Double(), propulsion_model_->y.data(), propulsion_model_->x_pred.data()); + propulsion_model_->x = propulsion_model_->x_pred; + force = force + checknan(Vector3(propulsion_model_->y[0], -propulsion_model_->y[1], propulsion_model_->y[2]), "propulsion model force"); + torque = torque + checknan(Vector3(propulsion_model_->y[3], -propulsion_model_->y[4], -propulsion_model_->y[5]), "propulsion model torque"); + +// std::cout << "y = [ "; +// for(std::size_t i = 0; i < propulsion_model_->y.size(); ++i) +// std::cout << propulsion_model_->y[i] << " "; +// std::cout << "]" << std::endl; + + // publish wrench + if (wrench_publisher_) { + wrench_.force.x = force.x; + wrench_.force.y = force.y; + wrench_.force.z = force.z; + wrench_.torque.x = torque.x; + wrench_.torque.y = torque.y; + wrench_.torque.z = torque.z; + wrench_publisher_.publish(wrench_); + } + + // set force and torque in gazebo + link->AddRelativeForce(force); + link->AddRelativeTorque(torque - link->GetInertial()->GetCoG().Cross(force)); + + // publish motor status + if (motor_status_publisher_ && trigger /* && current_time >= last_motor_status_time_ + control_period_ */) { + motor_status_.header.stamp = ros::Time(current_time.sec, current_time.nsec); + + motor_status_.voltage.resize(4); + motor_status_.voltage[0] = propulsion_model_->u[6]; + motor_status_.voltage[1] = propulsion_model_->u[7]; + motor_status_.voltage[2] = propulsion_model_->u[8]; + motor_status_.voltage[3] = propulsion_model_->u[9]; + + motor_status_.frequency.resize(4); + motor_status_.frequency[0] = propulsion_model_->y[6]; + motor_status_.frequency[1] = propulsion_model_->y[7]; + motor_status_.frequency[2] = propulsion_model_->y[8]; + motor_status_.frequency[3] = propulsion_model_->y[9]; + motor_status_.running = motor_status_.frequency[0] > 1.0 && motor_status_.frequency[1] > 1.0 && motor_status_.frequency[2] > 1.0 && motor_status_.frequency[3] > 1.0; + + motor_status_.current.resize(4); + motor_status_.current[0] = propulsion_model_->y[10]; + motor_status_.current[1] = propulsion_model_->y[11]; + motor_status_.current[2] = propulsion_model_->y[12]; + motor_status_.current[3] = propulsion_model_->y[13]; + motor_status_publisher_.publish(motor_status_); + last_motor_status_time_ = current_time; + } +} + +//////////////////////////////////////////////////////////////////////////////// +// Reset the controller +void GazeboQuadrotorPropulsion::Reset() +{ + propulsion_model_->x.assign(0.0); + propulsion_model_->x_pred.assign(0.0); + last_control_time_ = Time(); + last_motor_status_time_ = Time(); + new_motor_voltages_ = std::queue(); // .clear(); + motor_voltage_.reset(); +} + +//////////////////////////////////////////////////////////////////////////////// +// custom callback queue thread +void GazeboQuadrotorPropulsion::QueueThread() +{ + static const double timeout = 0.01; + + while (node_handle_->ok()) + { + callback_queue_.callAvailable(ros::WallDuration(timeout)); + } +} + +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN(GazeboQuadrotorPropulsion) + +} // namespace gazebo diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/src/test_trajectory.cpp b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/src/test_trajectory.cpp new file mode 100644 index 0000000..ecabcde --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/src/test_trajectory.cpp @@ -0,0 +1,95 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + + +#include +#include + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "test_trajectory"); + ros::NodeHandle nh; + ros::Publisher publisher = nh.advertise("cmd_vel", 1); + geometry_msgs::Twist twist; + + publisher.publish(twist); + ros::Duration(5.0).sleep(); + + double speed = 3.0; + double interval = 3.0; + + twist.linear.z = 2.0; + publisher.publish(twist); + ros::Duration(interval).sleep(); + + twist.linear.z = 0.0; + publisher.publish(twist); + ros::Duration(interval).sleep(); + + twist.linear.x = speed; + publisher.publish(twist); + ros::Duration(interval).sleep(); + + twist.linear.x = 0.0; + publisher.publish(twist); + ros::Duration(interval).sleep(); + + twist.linear.y = speed; + publisher.publish(twist); + ros::Duration(interval).sleep(); + + twist.linear.y = 0.0; + publisher.publish(twist); + ros::Duration(interval).sleep(); + + twist.linear.x = -speed; + publisher.publish(twist); + ros::Duration(interval).sleep(); + + twist.linear.x = 0.0; + publisher.publish(twist); + ros::Duration(interval).sleep(); + + twist.linear.y = -speed; + publisher.publish(twist); + ros::Duration(interval).sleep(); + + twist.linear.y = 0.0; + publisher.publish(twist); + ros::Duration(interval).sleep(); + + twist.linear.z = -1.0; + publisher.publish(twist); + ros::Duration(interval).sleep(); + + twist.linear.z = 0.0; + publisher.publish(twist); + ros::Duration(interval).sleep(); + + return 0; +} diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/urdf/model_based_navigation.urdf.xacro b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/urdf/model_based_navigation.urdf.xacro new file mode 100644 index 0000000..9430285 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/urdf/model_based_navigation.urdf.xacro @@ -0,0 +1,26 @@ + + + + + + + + + 100.0 + quadro + Simulink + $(find quadro)/simulink/MBN/RTWmodel_QK_SFSVD_ROS.so + + + + + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/urdf/quadrotor_aerodynamics.urdf.xacro b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/urdf/quadrotor_aerodynamics.urdf.xacro new file mode 100644 index 0000000..c4a42c8 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/urdf/quadrotor_aerodynamics.urdf.xacro @@ -0,0 +1,16 @@ + + + + + + + + + true + 0.0 + base_link + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/urdf/quadrotor_controller.urdf.xacro b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/urdf/quadrotor_controller.urdf.xacro new file mode 100644 index 0000000..291daff --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/urdf/quadrotor_controller.urdf.xacro @@ -0,0 +1,24 @@ + + + + + + + + + 100.0 + quadro + Controller + $(find quadro)/conf/controller.cpf + + + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/urdf/quadrotor_pose_estimation.urdf.xacro b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/urdf/quadrotor_pose_estimation.urdf.xacro new file mode 100644 index 0000000..e6996fe --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/urdf/quadrotor_pose_estimation.urdf.xacro @@ -0,0 +1,25 @@ + + + + + + + + + 100.0 + hector_pose_estimation_rtt + hector_pose_estimation::PoseEstimationTaskContext + + + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/urdf/quadrotor_propulsion.urdf.xacro b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/urdf/quadrotor_propulsion.urdf.xacro new file mode 100644 index 0000000..df67d38 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_controller/urdf/quadrotor_propulsion.urdf.xacro @@ -0,0 +1,19 @@ + + + + + + + + + true + 0.0 + base_link + 100.0 + + 0.01 + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/CMakeLists.txt b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/CMakeLists.txt new file mode 100644 index 0000000..85021d7 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/CMakeLists.txt @@ -0,0 +1,32 @@ +cmake_minimum_required(VERSION 2.4.6) +include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) + +# Set the build type. Options are: +# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage +# Debug : w/ debug symbols, w/o optimization +# Release : w/o debug symbols, w/ optimization +# RelWithDebInfo : w/ debug symbols, w/ optimization +# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries +#set(ROS_BUILD_TYPE RelWithDebInfo) + +rosbuild_init() + +#set the default path for built executables to the "bin" directory +#set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) +#set the default path for built libraries to the "lib" directory +#set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) + +#uncomment if you have defined messages +#rosbuild_genmsg() +#uncomment if you have defined services +#rosbuild_gensrv() + +#common commands for building c++ executables and libraries +#rosbuild_add_library(${PROJECT_NAME} src/example.cpp) +#target_link_libraries(${PROJECT_NAME} another_library) +#rosbuild_add_boost_directories() +#rosbuild_link_boost(${PROJECT_NAME} thread) +#rosbuild_add_executable(example examples/example.cpp) +#target_link_libraries(example ${PROJECT_NAME}) + +add_subdirectory(urdf) diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/Makefile b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/Makefile new file mode 100644 index 0000000..b75b928 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/Makefile @@ -0,0 +1 @@ +include $(shell rospack find mk)/cmake.mk \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/ROS_NOBUILD b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/ROS_NOBUILD new file mode 100644 index 0000000..f1231a5 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/ROS_NOBUILD @@ -0,0 +1 @@ +created by rosmake to mark as installed \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/MySpawn_quadrotor.launch b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/MySpawn_quadrotor.launch new file mode 100644 index 0000000..6df1920 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/MySpawn_quadrotor.launch @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/mySpawn_quadrotor_with_kinect.launch b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/mySpawn_quadrotor_with_kinect.launch new file mode 100644 index 0000000..cab4919 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/mySpawn_quadrotor_with_kinect.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/quadrotor_empty_world.launch b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/quadrotor_empty_world.launch new file mode 100644 index 0000000..865cb02 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/quadrotor_empty_world.launch @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/quadrotor_empty_world.launch~ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/quadrotor_empty_world.launch~ new file mode 100644 index 0000000..8dc8c1a --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/quadrotor_empty_world.launch~ @@ -0,0 +1,17 @@ + + + + + + + + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor.launch b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor.launch new file mode 100644 index 0000000..5d7ba22 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor.launch @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor.launch~ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor.launch~ new file mode 100644 index 0000000..5d7ba22 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor.launch~ @@ -0,0 +1,36 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_slam.launch b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_slam.launch new file mode 100644 index 0000000..0105694 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_slam.launch @@ -0,0 +1,14 @@ + + + + + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_asus.launch b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_asus.launch new file mode 100644 index 0000000..5bc9dd1 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_asus.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_asus_with_laser.launch b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_asus_with_laser.launch new file mode 100644 index 0000000..2c863d7 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_asus_with_laser.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_cam.launch b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_cam.launch new file mode 100644 index 0000000..c3a198f --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_cam.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_downward_cam.launch b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_downward_cam.launch new file mode 100644 index 0000000..209fa00 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_downward_cam.launch @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_kinect.launch b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_kinect.launch new file mode 100644 index 0000000..7c20ce9 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_kinect.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_kinect.launch~ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_kinect.launch~ new file mode 100644 index 0000000..2c863d7 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_kinect.launch~ @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_laser.launch b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_laser.launch new file mode 100644 index 0000000..1ee9612 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/launch/spawn_quadrotor_with_laser.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/mainpage.dox b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/mainpage.dox new file mode 100644 index 0000000..0796903 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/mainpage.dox @@ -0,0 +1,26 @@ +/** +\mainpage +\htmlinclude manifest.html + +\b hector_quadrotor_gazebo is ... + + + + +\section codeapi Code API + + + + +*/ diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/manifest.xml b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/manifest.xml new file mode 100644 index 0000000..a2b57a3 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/manifest.xml @@ -0,0 +1,21 @@ + + + + hector_quadrotor_gazebo provides a quadrotor model usable in gazebo simulation. + It can be commanded using geometry_msgs/Twist messages. + + + Stefan Kohlbrecher, Johannes Meyer + BSD + + http://ros.org/wiki/hector_quadrotor_gazebo + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/urdf/CMakeLists.txt b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/urdf/CMakeLists.txt new file mode 100644 index 0000000..e20578d --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/urdf/CMakeLists.txt @@ -0,0 +1,56 @@ +option(USE_GROUND_TRUTH_FOR_CONTROL "Use the ground truth state as input for the controller" ON) +if(USE_GROUND_TRUTH_FOR_CONTROL) + set(CONTROL_STATE_TOPIC "ground_truth/state") + set(CONTROL_IMU_TOPIC "raw_imu") +else() + set(CONTROL_STATE_TOPIC "state") + set(CONTROL_IMU_TOPIC "imu") +endif() + +option(USE_POSE_ESTIMATION "Use hector_pose_estimation to estimate the pose of the quadrotor." ON) +if(USE_POSE_ESTIMATION) + rosbuild_find_ros_package(gazebo_rtt_plugin) + rosbuild_find_ros_package(hector_pose_estimation_rtt) + + if(NOT EXISTS ${gazebo_rtt_plugin_PACKAGE_PATH}/lib/libgazebo_rtt_plugin.so OR + NOT EXISTS ${hector_pose_estimation_rtt_PACKAGE_PATH}/lib/orocos/gnulinux/libhector_pose_estimation_rtt-gnulinux.so) + message(STATUS "Not using the pose estimation plugin as the required plugins have not been found. Try to run 'rosmake gazebo_rtt_plugin hector_pose_estimation_rtt'.") + set(USE_POSE_ESTIMATION OFF) + endif() +endif() + +if(USE_POSE_ESTIMATION) + set(URDF "${URDF} \n") +endif() + +option(USE_PROPULSION_MODEL "Use a model of the quadrotor propulsion system" OFF) +if(USE_PROPULSION_MODEL) + rosbuild_find_ros_package(gazebo_rtt_plugin) + rosbuild_find_ros_package(hector_quadrotor_controller) + + if(NOT EXISTS ${gazebo_rtt_plugin_PACKAGE_PATH}/lib/libgazebo_rtt_plugin.so OR + NOT EXISTS ${hector_quadrotor_controller_PACKAGE_PATH}/lib/libhector_gazebo_quadrotor_propulsion.so) + message(STATUS "Not using the propulsion model as the required plugins have not been found. Try to run 'rosmake hector_quadrotor_controller'.") + set(USE_PROPULSION_MODEL OFF) + endif() +endif() + +if(USE_PROPULSION_MODEL) + set(URDF "${URDF} \n") + set(URDF "${URDF} \n") +else() + set(URDF "${URDF} \n") +endif() + +option(USE_AERODYNAMICS_MODEL "Use a model of the quadrotor aerodynamics" OFF) +if(USE_AERODYNAMICS_MODEL AND NOT EXISTS ${hector_quadrotor_controller_PACKAGE_PATH}/lib/libhector_gazebo_quadrotor_aerodynamics.so) + message(STATUS "Not using the aerodynamics model as the required plugin has not been found. Try to run 'rosmake hector_quadrotor_controller'.") + set(USE_AERODYNAMICS_MODEL OFF) +endif() + +if(USE_AERODYNAMICS_MODEL) + set(URDF "${URDF} \n") +endif() + +configure_file(quadrotor_plugins.urdf.xacro.in ${PROJECT_SOURCE_DIR}/urdf/quadrotor_plugins.urdf.xacro @ONLY) +set_directory_properties(PROPERTIES ADDITIONAL_MAKE_CLEAN_FILES ${PROJECT_SOURCE_DIR}/urdf/quadrotor_plugins.urdf.xacro) diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/urdf/quadrotor_plugins.urdf.xacro b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/urdf/quadrotor_plugins.urdf.xacro new file mode 100644 index 0000000..04cdef1 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/urdf/quadrotor_plugins.urdf.xacro @@ -0,0 +1,18 @@ + + + + + + + + + + + + + base_link + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/urdf/quadrotor_plugins.urdf.xacro.in b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/urdf/quadrotor_plugins.urdf.xacro.in new file mode 100644 index 0000000..e828b07 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/urdf/quadrotor_plugins.urdf.xacro.in @@ -0,0 +1,17 @@ + + + + + + + + + + + + + base_link + +@URDF@ + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/urdf/quadrotor_sensors.urdf.xacro b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/urdf/quadrotor_sensors.urdf.xacro new file mode 100644 index 0000000..fb8199b --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo/urdf/quadrotor_sensors.urdf.xacro @@ -0,0 +1,62 @@ + + + + + + + + + 100.0 + base_link + raw_imu + 0 0 0 + 0 + 0.5 0.5 0.5 + 0.35 0.35 0.3 + 0.1 0.1 0.1 + 0.05 0.05 0.015 + 0.1 + 0.05 + + + + 10.0 + base_link + pressure_height + altimeter + 0 + 0.1 + 0.1 + + + + 10.0 + base_link + magnetic + 0 0 0 + 0.0 0.0 0.0 + 1.3e-2 1.3e-2 1.3e-2 + + + + 4.0 + base_link + fix + fix_velocity + 5.0 5.0 5.0 + 0.01 0.01 0.01 + 0 0 0 + 0.05 0.05 0.05 + + + + 100.0 + base_link + ground_truth/state + 0.0 + map + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/CMakeLists.txt b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/CMakeLists.txt new file mode 100644 index 0000000..969e022 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/CMakeLists.txt @@ -0,0 +1,26 @@ +cmake_minimum_required(VERSION 2.4.6) +include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) + +# Set the build type. Options are: +# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage +# Debug : w/ debug symbols, w/o optimization +# Release : w/o debug symbols, w/ optimization +# RelWithDebInfo : w/ debug symbols, w/ optimization +# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries +#set(ROS_BUILD_TYPE RelWithDebInfo) + +rosbuild_init() + +#set the default path for built executables to the "bin" directory +#set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) +#set the default path for built libraries to the "lib" directory +set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) + +#rosbuild_add_boost_directories() + +rosbuild_add_library(hector_gazebo_ros_baro src/gazebo_ros_baro.cpp) +#rosbuild_link_boost(hector_gazebo_ros_baro thread) + +rosbuild_add_library(hector_gazebo_quadrotor_simple_controller src/quadrotor_simple_controller.cpp) +#rosbuild_link_boost(hector_gazebo_quadrotor_simple_controller thread) + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/Makefile b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/Makefile new file mode 100644 index 0000000..b75b928 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/Makefile @@ -0,0 +1 @@ +include $(shell rospack find mk)/cmake.mk \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/ROS_NOBUILD b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/ROS_NOBUILD new file mode 100644 index 0000000..f1231a5 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/ROS_NOBUILD @@ -0,0 +1 @@ +created by rosmake to mark as installed \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/include/hector_quadrotor_gazebo_plugins/gazebo_ros_baro.h b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/include/hector_quadrotor_gazebo_plugins/gazebo_ros_baro.h new file mode 100644 index 0000000..43e3fd3 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/include/hector_quadrotor_gazebo_plugins/gazebo_ros_baro.h @@ -0,0 +1,94 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#ifndef HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_BARO_H +#define HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_BARO_H + +#include + +#include +#ifdef USE_MAV_MSGS + #include +#else + #include +#endif +#include + +#include +#include + +namespace gazebo +{ + +class GazeboRosBaro : public ModelPlugin +{ +public: + GazeboRosBaro(); + virtual ~GazeboRosBaro(); + +protected: + virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); + virtual void Reset(); + virtual void Update(); + +private: + /// \brief The parent World + physics::WorldPtr world; + + /// \brief The link referred to by this plugin + physics::LinkPtr link; + + ros::NodeHandle* node_handle_; + ros::Publisher height_publisher_; + ros::Publisher altimeter_publisher_; + +#ifdef USE_MAV_MSGS + mav_msgs::Height height_; +#else + geometry_msgs::PointStamped height_; +#endif + hector_uav_msgs::Altimeter altimeter_; + + std::string namespace_; + std::string height_topic_; + std::string altimeter_topic_; + std::string link_name_; + std::string frame_id_; + + double elevation_; + double qnh_; + + SensorModel sensor_model_; + + UpdateTimer updateTimer; + event::ConnectionPtr updateConnection; +}; + +} // namespace gazebo + +#endif // HECTOR_GAZEBO_PLUGINS_GAZEBO_ROS_BARO_H diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/include/hector_quadrotor_gazebo_plugins/quadrotor_simple_controller.h b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/include/hector_quadrotor_gazebo_plugins/quadrotor_simple_controller.h new file mode 100644 index 0000000..a637a53 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/include/hector_quadrotor_gazebo_plugins/quadrotor_simple_controller.h @@ -0,0 +1,131 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#ifndef HECTOR_GAZEBO_PLUGINS_QUADROTOR_SIMPLE_CONTROLLER_H +#define HECTOR_GAZEBO_PLUGINS_QUADROTOR_SIMPLE_CONTROLLER_H + +#include + +#include +#include + +#include +#include +#include + +#include + +namespace gazebo +{ + +class GazeboQuadrotorSimpleController : public ModelPlugin +{ +public: + GazeboQuadrotorSimpleController(); + virtual ~GazeboQuadrotorSimpleController(); + +protected: + virtual void Load(physics::ModelPtr _model, sdf::ElementPtr _sdf); + virtual void Update(); + virtual void Reset(); + +private: + /// \brief The parent World + physics::WorldPtr world; + + /// \brief The link referred to by this plugin + physics::LinkPtr link; + + ros::NodeHandle* node_handle_; + ros::CallbackQueue callback_queue_; + ros::Subscriber velocity_subscriber_; + ros::Subscriber imu_subscriber_; + ros::Subscriber state_subscriber_; + + // void CallbackQueueThread(); + // boost::mutex lock_; + // boost::thread callback_queue_thread_; + + geometry_msgs::Twist velocity_command_; + void VelocityCallback(const geometry_msgs::TwistConstPtr&); + void ImuCallback(const sensor_msgs::ImuConstPtr&); + void StateCallback(const nav_msgs::OdometryConstPtr&); + + ros::Time state_stamp; + math::Pose pose; + math::Vector3 euler, velocity, acceleration, angular_velocity; + + std::string link_name_; + std::string namespace_; + std::string velocity_topic_; + std::string imu_topic_; + std::string state_topic_; + double max_force_; + + class PIDController { + public: + PIDController(); + virtual ~PIDController(); + virtual void Load(sdf::ElementPtr _sdf, const std::string& prefix = ""); + + double gain_p; + double gain_i; + double gain_d; + double time_constant; + double limit; + + double input; + double dinput; + double output; + double p, i, d; + + double update(double input, double x, double dx, double dt); + void reset(); + }; + + struct Controllers { + PIDController roll; + PIDController pitch; + PIDController yaw; + PIDController velocity_x; + PIDController velocity_y; + PIDController velocity_z; + } controllers_; + + math::Vector3 inertia; + double mass; + + math::Vector3 force, torque; + + UpdateTimer controlTimer; + event::ConnectionPtr updateConnection; +}; + +} + +#endif // HECTOR_GAZEBO_PLUGINS_QUADROTOR_SIMPLE_CONTROLLER_H diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/lib/libhector_gazebo_quadrotor_simple_controller.so b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/lib/libhector_gazebo_quadrotor_simple_controller.so new file mode 100644 index 0000000..df42a89 Binary files /dev/null and b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/lib/libhector_gazebo_quadrotor_simple_controller.so differ diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/lib/libhector_gazebo_ros_baro.so b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/lib/libhector_gazebo_ros_baro.so new file mode 100644 index 0000000..18861a7 Binary files /dev/null and b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/lib/libhector_gazebo_ros_baro.so differ diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/mainpage.dox b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/mainpage.dox new file mode 100644 index 0000000..7f4247d --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/mainpage.dox @@ -0,0 +1,26 @@ +/** +\mainpage +\htmlinclude manifest.html + +\b hector_quadrotor_gazebo_plugins is ... + + + + +\section codeapi Code API + + + + +*/ diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/manifest.xml b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/manifest.xml new file mode 100644 index 0000000..6557600 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/manifest.xml @@ -0,0 +1,27 @@ + + + + hector_quadrotor_gazebo_plugins provides gazebo plugins for using quadrotors in gazebo. + The hector_gazebo_ros_baro sensor plugin simulates an altimeter based on barometric pressure. + hector_quadrotor_simple_controller is a simple controller allowing to command the quadrotor's velocity + using a geometry_msgs/Twist message for teleoperation. + + + Johannes Meyer + BSD + + http://ros.org/wiki/hector_quadrotor_gazebo_plugins + + + + + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/src/gazebo_ros_baro.cpp b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/src/gazebo_ros_baro.cpp new file mode 100644 index 0000000..102eaef --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/src/gazebo_ros_baro.cpp @@ -0,0 +1,179 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#include +#include +#include + +static const double DEFAULT_ELEVATION = 0.0; +static const double DEFAULT_QNH = 1013.25; + +namespace gazebo { + +GazeboRosBaro::GazeboRosBaro() +{ +} + +//////////////////////////////////////////////////////////////////////////////// +// Destructor +GazeboRosBaro::~GazeboRosBaro() +{ + updateTimer.Disconnect(updateConnection); + node_handle_->shutdown(); + delete node_handle_; +} + +//////////////////////////////////////////////////////////////////////////////// +// Load the controller +void GazeboRosBaro::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + world = _model->GetWorld(); + + // load parameters + if (!_sdf->HasElement("robotNamespace")) + namespace_.clear(); + else + namespace_ = _sdf->GetElement("robotNamespace")->GetValueString() + "/"; + + if (!_sdf->HasElement("bodyName")) + { + link = _model->GetLink(); + link_name_ = link->GetName(); + } + else { + link_name_ = _sdf->GetElement("bodyName")->GetValueString(); + link = _model->GetLink(link_name_); + } + + if (!link) + { + ROS_FATAL("gazebo_ros_baro plugin error: bodyName: %s does not exist\n", link_name_.c_str()); + return; + } + + if (!_sdf->HasElement("frameId")) + frame_id_ = link->GetName(); + else + frame_id_ = _sdf->GetElement("frameId")->GetValueString(); + + if (!_sdf->HasElement("topicName")) + height_topic_ = "pressure_height"; + else + height_topic_ = _sdf->GetElement("topicName")->GetValueString(); + + if (!_sdf->HasElement("altimeterTopicName")) + altimeter_topic_ = "altimeter"; + else + altimeter_topic_ = _sdf->GetElement("altimeterTopicName")->GetValueString(); + + if (!_sdf->HasElement("elevation")) + elevation_ = DEFAULT_ELEVATION; + else + elevation_ = _sdf->GetElement("elevation")->GetValueDouble(); + + if (!_sdf->HasElement("qnh")) + qnh_ = DEFAULT_QNH; + else + qnh_ = _sdf->GetElement("qnh")->GetValueDouble(); + + sensor_model_.Load(_sdf); + height_.header.frame_id = frame_id_; + + // start ros node + if (!ros::isInitialized()) + { + int argc = 0; + char **argv = NULL; + ros::init(argc,argv,"gazebo",ros::init_options::NoSigintHandler|ros::init_options::AnonymousName); + } + + node_handle_ = new ros::NodeHandle(namespace_); + if (!height_topic_.empty()) { +#ifdef USE_MAV_MSGS + height_publisher_ = node_handle_->advertise(height_topic_, 10); +#else + height_publisher_ = node_handle_->advertise(height_topic_, 10); +#endif + } + + if (!altimeter_topic_.empty()) { + altimeter_publisher_ = node_handle_->advertise(altimeter_topic_, 10); + } + + Reset(); + + // connect Update function + updateTimer.Load(world, _sdf); + updateConnection = updateTimer.Connect(boost::bind(&GazeboRosBaro::Update, this)); +} + +void GazeboRosBaro::Reset() +{ + updateTimer.Reset(); + sensor_model_.reset(); +} + +//////////////////////////////////////////////////////////////////////////////// +// Update the controller +void GazeboRosBaro::Update() +{ + common::Time sim_time = world->GetSimTime(); + double dt = updateTimer.getTimeSinceLastUpdate().Double(); + + math::Pose pose = link->GetWorldPose(); + double height = sensor_model_(pose.pos.z, dt); + + if (height_publisher_) { +#ifdef USE_MAV_MSGS + double previous_height = height_.height; + height_.header.stamp = ros::Time(sim_time.sec, sim_time.nsec); + height_.height = height; + height_.height_variance = sensor_model_.gaussian_noise*sensor_model_.gaussian_noise + sensor_model_.drift*sensor_model_.drift; + height_.climb = dt > 0.0 ? (height_.height - previous_height) / dt : 0.0; + height_.climb_variance = sensor_model_.gaussian_noise*sensor_model_.gaussian_noise; +#else + height_.header.stamp = ros::Time(sim_time.sec, sim_time.nsec); + height_.point.z = height; +#endif + + height_publisher_.publish(height_); + } + + if (altimeter_publisher_) { + altimeter_.header = height_.header; + altimeter_.altitude = height + elevation_; + altimeter_.pressure = pow((1.0 - altimeter_.altitude / 44330.0), 5.263157) * qnh_; + altimeter_.qnh = qnh_; + altimeter_publisher_.publish(altimeter_); + } +} + +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN(GazeboRosBaro) + +} // namespace gazebo diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/src/quadrotor_simple_controller.cpp b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/src/quadrotor_simple_controller.cpp new file mode 100644 index 0000000..85f59ab --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/src/quadrotor_simple_controller.cpp @@ -0,0 +1,344 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#include +#include +#include + +#include + +namespace gazebo { + +GazeboQuadrotorSimpleController::GazeboQuadrotorSimpleController() +{ +} + +//////////////////////////////////////////////////////////////////////////////// +// Destructor +GazeboQuadrotorSimpleController::~GazeboQuadrotorSimpleController() +{ + event::Events::DisconnectWorldUpdateBegin(updateConnection); + + node_handle_->shutdown(); + delete node_handle_; +} + +//////////////////////////////////////////////////////////////////////////////// +// Load the controller +void GazeboQuadrotorSimpleController::Load(physics::ModelPtr _model, sdf::ElementPtr _sdf) +{ + world = _model->GetWorld(); + + // load parameters + if (!_sdf->HasElement("robotNamespace") || !_sdf->GetElement("robotNamespace")->GetValue()) + namespace_.clear(); + else + namespace_ = _sdf->GetElement("robotNamespace")->GetValueString() + "/"; + + if (!_sdf->HasElement("topicName") || !_sdf->GetElement("topicName")->GetValue()) + velocity_topic_ = "cmd_vel"; + else + velocity_topic_ = _sdf->GetElement("topicName")->GetValueString(); + + if (!_sdf->HasElement("imuTopic") || !_sdf->GetElement("imuTopic")->GetValue()) + imu_topic_.clear(); + else + imu_topic_ = _sdf->GetElement("imuTopic")->GetValueString(); + + if (!_sdf->HasElement("stateTopic") || !_sdf->GetElement("stateTopic")->GetValue()) + state_topic_.clear(); + else + state_topic_ = _sdf->GetElement("stateTopic")->GetValueString(); + + if (!_sdf->HasElement("bodyName") || !_sdf->GetElement("bodyName")->GetValue()) + { + link = _model->GetLink(); + link_name_ = link->GetName(); + } + else { + link_name_ = _sdf->GetElement("bodyName")->GetValueString(); + link = _model->GetLink(link_name_); + } + + if (!link) + { + ROS_FATAL("gazebo_ros_baro plugin error: bodyName: %s does not exist\n", link_name_.c_str()); + return; + } + + if (!_sdf->HasElement("maxForce") || !_sdf->GetElement("maxForce")->GetValue()) + max_force_ = -1; + else + max_force_ = _sdf->GetElement("maxForce")->GetValueDouble(); + + controllers_.roll.Load(_sdf, "rollpitch"); + controllers_.pitch.Load(_sdf, "rollpitch"); + controllers_.yaw.Load(_sdf, "yaw"); + controllers_.velocity_x.Load(_sdf, "velocityXY"); + controllers_.velocity_y.Load(_sdf, "velocityXY"); + controllers_.velocity_z.Load(_sdf, "velocityZ"); + + // Get inertia and mass of quadrotor body + inertia = link->GetInertial()->GetPrincipalMoments(); + mass = link->GetInertial()->GetMass(); + + node_handle_ = new ros::NodeHandle(namespace_); + + // subscribe command + if (!velocity_topic_.empty()) + { + ros::SubscribeOptions ops = ros::SubscribeOptions::create( + velocity_topic_, 1, + boost::bind(&GazeboQuadrotorSimpleController::VelocityCallback, this, _1), + ros::VoidPtr(), &callback_queue_); + velocity_subscriber_ = node_handle_->subscribe(ops); + } + + // subscribe imu + if (!imu_topic_.empty()) + { + ros::SubscribeOptions ops = ros::SubscribeOptions::create( + imu_topic_, 1, + boost::bind(&GazeboQuadrotorSimpleController::ImuCallback, this, _1), + ros::VoidPtr(), &callback_queue_); + imu_subscriber_ = node_handle_->subscribe(ops); + + ROS_INFO_NAMED("quadrotor_simple_controller", "Using imu information on topic %s as source of orientation and angular velocity.", imu_topic_.c_str()); + } + + // subscribe state + if (!state_topic_.empty()) + { + ros::SubscribeOptions ops = ros::SubscribeOptions::create( + state_topic_, 1, + boost::bind(&GazeboQuadrotorSimpleController::StateCallback, this, _1), + ros::VoidPtr(), &callback_queue_); + state_subscriber_ = node_handle_->subscribe(ops); + + ROS_INFO_NAMED("quadrotor_simple_controller", "Using state information on topic %s as source of state information.", state_topic_.c_str()); + } + + // callback_queue_thread_ = boost::thread( boost::bind( &GazeboQuadrotorSimpleController::CallbackQueueThread,this ) ); + + + Reset(); + + // New Mechanism for Updating every World Cycle + // Listen to the update event. This event is broadcast every + // simulation iteration. + controlTimer.Load(world, _sdf); + updateConnection = event::Events::ConnectWorldUpdateBegin( + boost::bind(&GazeboQuadrotorSimpleController::Update, this)); +} + +//////////////////////////////////////////////////////////////////////////////// +// Callbacks +void GazeboQuadrotorSimpleController::VelocityCallback(const geometry_msgs::TwistConstPtr& velocity) +{ + velocity_command_ = *velocity; +} + +void GazeboQuadrotorSimpleController::ImuCallback(const sensor_msgs::ImuConstPtr& imu) +{ + pose.rot.Set(imu->orientation.w, imu->orientation.x, imu->orientation.y, imu->orientation.z); + euler = pose.rot.GetAsEuler(); + angular_velocity = pose.rot.RotateVector(math::Vector3(imu->angular_velocity.x, imu->angular_velocity.y, imu->angular_velocity.z)); +} + +void GazeboQuadrotorSimpleController::StateCallback(const nav_msgs::OdometryConstPtr& state) +{ + math::Vector3 velocity1(velocity); + + if (imu_topic_.empty()) { + pose.pos.Set(state->pose.pose.position.x, state->pose.pose.position.y, state->pose.pose.position.z); + pose.rot.Set(state->pose.pose.orientation.w, state->pose.pose.orientation.x, state->pose.pose.orientation.y, state->pose.pose.orientation.z); + euler = pose.rot.GetAsEuler(); + angular_velocity.Set(state->twist.twist.angular.x, state->twist.twist.angular.y, state->twist.twist.angular.z); + } + + velocity.Set(state->twist.twist.linear.x, state->twist.twist.linear.y, state->twist.twist.linear.z); + + // calculate acceleration + double dt = !state_stamp.isZero() ? (state->header.stamp - state_stamp).toSec() : 0.0; + state_stamp = state->header.stamp; + if (dt > 0.0) { + acceleration = (velocity - velocity1) / dt; + } else { + acceleration.Set(); + } +} + +//////////////////////////////////////////////////////////////////////////////// +// Update the controller +void GazeboQuadrotorSimpleController::Update() +{ + // Get new commands/state + callback_queue_.callAvailable(); + + double dt; + if (controlTimer.update(dt) && dt > 0.0) { + // Get Pose/Orientation from Gazebo (if no state subscriber is active) + if (imu_topic_.empty()) { + pose = link->GetWorldPose(); + angular_velocity = link->GetWorldAngularVel(); + euler = pose.rot.GetAsEuler(); + } + if (state_topic_.empty()) { + acceleration = (link->GetWorldLinearVel() - velocity) / dt; + velocity = link->GetWorldLinearVel(); + } + + // static Time lastDebug; + // if ((world->GetSimTime() - lastDebug).Double() > 0.5) { + // ROS_DEBUG_STREAM_NAMED("quadrotor_simple_controller", "Velocity: gazebo = [" << link->GetWorldLinearVel() << "], state = [" << velocity << "]"); + // ROS_DEBUG_STREAM_NAMED("quadrotor_simple_controller", "Acceleration: gazebo = [" << link->GetWorldLinearAccel() << "], state = [" << acceleration << "]"); + // ROS_DEBUG_STREAM_NAMED("quadrotor_simple_controller", "Angular Velocity: gazebo = [" << link->GetWorldAngularVel() << "], state = [" << angular_velocity << "]"); + // lastDebug = world->GetSimTime(); + // } + + // Get gravity + math::Vector3 gravity_body = pose.rot.RotateVector(world->GetPhysicsEngine()->GetGravity()); + double gravity = gravity_body.GetLength(); + double load_factor = gravity * gravity / world->GetPhysicsEngine()->GetGravity().Dot(gravity_body); // Get gravity + + // Rotate vectors to coordinate frames relevant for control + math::Quaternion heading_quaternion(cos(euler.z/2),0,0,sin(euler.z/2)); + math::Vector3 velocity_xy = heading_quaternion.RotateVectorReverse(velocity); + math::Vector3 acceleration_xy = heading_quaternion.RotateVectorReverse(acceleration); + math::Vector3 angular_velocity_body = pose.rot.RotateVectorReverse(angular_velocity); + + // update controllers + force.Set(0.0, 0.0, 0.0); + torque.Set(0.0, 0.0, 0.0); + double pitch_command = controllers_.velocity_x.update(velocity_command_.linear.x, velocity_xy.x, acceleration_xy.x, dt) / gravity; + double roll_command = -controllers_.velocity_y.update(velocity_command_.linear.y, velocity_xy.y, acceleration_xy.y, dt) / gravity; + torque.x = inertia.x * controllers_.roll.update(roll_command, euler.x, angular_velocity_body.x, dt); + torque.y = inertia.y * controllers_.pitch.update(pitch_command, euler.y, angular_velocity_body.y, dt); + // torque.x = inertia.x * controllers_.roll.update(-velocity_command_.linear.y/gravity, euler.x, angular_velocity_body.x, dt); + // torque.y = inertia.y * controllers_.pitch.update(velocity_command_.linear.x/gravity, euler.y, angular_velocity_body.y, dt); + torque.z = inertia.z * controllers_.yaw.update(velocity_command_.angular.z, angular_velocity.z, 0, dt); + force.z = mass * (controllers_.velocity_z.update(velocity_command_.linear.z, velocity.z, acceleration.z, dt) + load_factor * gravity); + if (max_force_ > 0.0 && force.z > max_force_) force.z = max_force_; + if (force.z < 0.0) force.z = 0.0; + + // static double lastDebugOutput = 0.0; + // if (last_time.Double() - lastDebugOutput > 0.1) { + // ROS_DEBUG_NAMED("quadrotor_simple_controller", "Velocity = [%g %g %g], Acceleration = [%g %g %g]", velocity.x, velocity.y, velocity.z, acceleration.x, acceleration.y, acceleration.z); + // ROS_DEBUG_NAMED("quadrotor_simple_controller", "Command: linear = [%g %g %g], angular = [%g %g %g], roll/pitch = [%g %g]", velocity_command_.linear.x, velocity_command_.linear.y, velocity_command_.linear.z, velocity_command_.angular.x*180/M_PI, velocity_command_.angular.y*180/M_PI, velocity_command_.angular.z*180/M_PI, roll_command*180/M_PI, pitch_command*180/M_PI); + // ROS_DEBUG_NAMED("quadrotor_simple_controller", "Mass: %g kg, Inertia: [%g %g %g], Load: %g g", mass, inertia.x, inertia.y, inertia.z, load_factor); + // ROS_DEBUG_NAMED("quadrotor_simple_controller", "Force: [%g %g %g], Torque: [%g %g %g]", force.x, force.y, force.z, torque.x, torque.y, torque.z); + // lastDebugOutput = last_time.Double(); + // } + } + + // set force and torque in gazebo + link->AddRelativeForce(force); + link->AddRelativeTorque(torque - link->GetInertial()->GetCoG().Cross(force)); +} + +//////////////////////////////////////////////////////////////////////////////// +// Reset the controller +void GazeboQuadrotorSimpleController::Reset() +{ + controllers_.roll.reset(); + controllers_.pitch.reset(); + controllers_.yaw.reset(); + controllers_.velocity_x.reset(); + controllers_.velocity_y.reset(); + controllers_.velocity_z.reset(); + + force.Set(); + torque.Set(); + + // reset state + pose.Reset(); + velocity.Set(); + angular_velocity.Set(); + acceleration.Set(); + euler.Set(); + state_stamp = ros::Time(); +} + +//////////////////////////////////////////////////////////////////////////////// +// PID controller implementation +GazeboQuadrotorSimpleController::PIDController::PIDController() +{ +} + +GazeboQuadrotorSimpleController::PIDController::~PIDController() +{ +} + +void GazeboQuadrotorSimpleController::PIDController::Load(sdf::ElementPtr _sdf, const std::string& prefix) +{ + gain_p = 0.0; + gain_d = 0.0; + gain_i = 0.0; + time_constant = 0.0; + limit = -1.0; + + if (!_sdf) return; + // _sdf->PrintDescription(_sdf->GetName()); + if (_sdf->HasElement(prefix + "ProportionalGain")) gain_p = _sdf->GetElement(prefix + "ProportionalGain")->GetValueDouble(); + if (_sdf->HasElement(prefix + "DifferentialGain")) gain_d = _sdf->GetElement(prefix + "DifferentialGain")->GetValueDouble(); + if (_sdf->HasElement(prefix + "IntegralGain")) gain_i = _sdf->GetElement(prefix + "IntegralGain")->GetValueDouble(); + if (_sdf->HasElement(prefix + "TimeConstant")) time_constant = _sdf->GetElement(prefix + "TimeConstant")->GetValueDouble(); + if (_sdf->HasElement(prefix + "Limit")) limit = _sdf->GetElement(prefix + "Limit")->GetValueDouble(); +} + +double GazeboQuadrotorSimpleController::PIDController::update(double new_input, double x, double dx, double dt) +{ + // limit command + if (limit > 0.0 && fabs(new_input) > limit) new_input = (new_input < 0 ? -1.0 : 1.0) * limit; + + // filter command + if (dt + time_constant > 0.0) { + dinput = (new_input - input) / (dt + time_constant); + input = (dt * new_input + time_constant * input) / (dt + time_constant); + } + + // update proportional, differential and integral errors + p = input - x; + d = dinput - dx; + i = i + dt * p; + + // update control output + output = gain_p * p + gain_d * d + gain_i * i; + return output; +} + +void GazeboQuadrotorSimpleController::PIDController::reset() +{ + input = dinput = 0; + p = i = d = output = 0; +} + +// Register this plugin with the simulator +GZ_REGISTER_MODEL_PLUGIN(GazeboQuadrotorSimpleController) + +} // namespace gazebo diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/urdf/quadrotor_simple_controller.urdf.xacro b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/urdf/quadrotor_simple_controller.urdf.xacro new file mode 100644 index 0000000..6ad7a52 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_gazebo_plugins/urdf/quadrotor_simple_controller.urdf.xacro @@ -0,0 +1,31 @@ + + + + + + + + + true + 0.0 + base_link + cmd_vel + ${state_topic} + ${imu_topic} + 10.0 + 5.0 + 0.5 + 2.0 + 1.0 + 1.5 + 5.0 + 1.0 + 5 + 5.0 + 1.0 + 2 + 30 + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_teleop/CMakeLists.txt b/ROS-groovy/hector_quadrotor/hector_quadrotor_teleop/CMakeLists.txt new file mode 100644 index 0000000..152be6e --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_teleop/CMakeLists.txt @@ -0,0 +1,32 @@ +cmake_minimum_required(VERSION 2.4.6) +include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) + +# Set the build type. Options are: +# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage +# Debug : w/ debug symbols, w/o optimization +# Release : w/o debug symbols, w/ optimization +# RelWithDebInfo : w/ debug symbols, w/ optimization +# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries +#set(ROS_BUILD_TYPE RelWithDebInfo) + +rosbuild_init() + +#set the default path for built executables to the "bin" directory +set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) +#set the default path for built libraries to the "lib" directory +#set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) + +#uncomment if you have defined messages +#rosbuild_genmsg() +#uncomment if you have defined services +#rosbuild_gensrv() + +#common commands for building c++ executables and libraries +#rosbuild_add_library(${PROJECT_NAME} src/example.cpp) +#target_link_libraries(${PROJECT_NAME} another_library) +#rosbuild_add_boost_directories() +#rosbuild_link_boost(${PROJECT_NAME} thread) +#rosbuild_add_executable(example examples/example.cpp) +#target_link_libraries(example ${PROJECT_NAME}) + +rosbuild_add_executable(quadrotor_teleop src/quadrotor_teleop.cpp) diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_teleop/Makefile b/ROS-groovy/hector_quadrotor/hector_quadrotor_teleop/Makefile new file mode 100644 index 0000000..b75b928 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_teleop/Makefile @@ -0,0 +1 @@ +include $(shell rospack find mk)/cmake.mk \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_teleop/ROS_NOBUILD b/ROS-groovy/hector_quadrotor/hector_quadrotor_teleop/ROS_NOBUILD new file mode 100644 index 0000000..f1231a5 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_teleop/ROS_NOBUILD @@ -0,0 +1 @@ +created by rosmake to mark as installed \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_teleop/bin/quadrotor_teleop b/ROS-groovy/hector_quadrotor/hector_quadrotor_teleop/bin/quadrotor_teleop new file mode 100644 index 0000000..c8627b9 Binary files /dev/null and b/ROS-groovy/hector_quadrotor/hector_quadrotor_teleop/bin/quadrotor_teleop differ diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_teleop/launch/logitech_gamepad.launch b/ROS-groovy/hector_quadrotor/hector_quadrotor_teleop/launch/logitech_gamepad.launch new file mode 100644 index 0000000..8e84d96 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_teleop/launch/logitech_gamepad.launch @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_teleop/launch/xbox_controller.launch b/ROS-groovy/hector_quadrotor/hector_quadrotor_teleop/launch/xbox_controller.launch new file mode 100644 index 0000000..7be4a53 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_teleop/launch/xbox_controller.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_teleop/mainpage.dox b/ROS-groovy/hector_quadrotor/hector_quadrotor_teleop/mainpage.dox new file mode 100644 index 0000000..4b38fe9 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_teleop/mainpage.dox @@ -0,0 +1,26 @@ +/** +\mainpage +\htmlinclude manifest.html + +\b hector_quadrotor_teleop is ... + + + + +\section codeapi Code API + + + + +*/ diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_teleop/manifest.xml b/ROS-groovy/hector_quadrotor/hector_quadrotor_teleop/manifest.xml new file mode 100644 index 0000000..4e1cffa --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_teleop/manifest.xml @@ -0,0 +1,17 @@ + + + + hector_quadrotor_teleop enables quadrotor flying with a joystick by + processing joy/Joy messages and translating them to geometry_msgs/Twist. + + + Johannes Meyer + BSD + + http://ros.org/wiki/hector_quadrotor_teleop + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_teleop/src/quadrotor_teleop.cpp b/ROS-groovy/hector_quadrotor/hector_quadrotor_teleop/src/quadrotor_teleop.cpp new file mode 100644 index 0000000..7f297a2 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_teleop/src/quadrotor_teleop.cpp @@ -0,0 +1,138 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + + +#include +#include +#include + +namespace hector_quadrotor { + +class Teleop +{ +private: + ros::NodeHandle node_handle_; + ros::Subscriber joy_subscriber_; + ros::Publisher velocity_publisher_; + geometry_msgs::Twist velocity_; + + struct Axis + { + int axis; + double max; + }; + + struct Button + { + unsigned int button; + }; + + struct { + Axis x; + Axis y; + Axis z; + Axis yaw; + } axes_; + + struct + { + } buttons_; + +public: + Teleop() + { + ros::NodeHandle params("~"); + axes_.x.axis = 0; + axes_.x.max = 2.0; + axes_.y.axis = 0; + axes_.y.max = 2.0; + axes_.z.axis = 0; + axes_.z.max = 2.0; + axes_.yaw.axis = 0; + axes_.yaw.max = 90.0*M_PI/180.0; + params.getParam("x_axis", axes_.x.axis); + params.getParam("y_axis", axes_.y.axis); + params.getParam("z_axis", axes_.z.axis); + params.getParam("yaw_axis", axes_.yaw.axis); + params.getParam("x_velocity_max", axes_.x.max); + params.getParam("y_velocity_max", axes_.y.max); + params.getParam("z_velocity_max", axes_.z.max); + params.getParam("yaw_velocity_max", axes_.yaw.max); + + joy_subscriber_ = node_handle_.subscribe("joy", 1, boost::bind(&Teleop::joyCallback, this, _1)); + velocity_publisher_ = node_handle_.advertise("cmd_vel", 10); + } + + ~Teleop() + { + stop(); + } + + void joyCallback(const sensor_msgs::JoyConstPtr& joy) + { + velocity_.linear.x = getAxis(joy, axes_.x.axis) * axes_.x.max; + velocity_.linear.y = getAxis(joy, axes_.y.axis) * axes_.y.max; + velocity_.linear.z = getAxis(joy, axes_.z.axis) * axes_.z.max; + velocity_.angular.z = getAxis(joy, axes_.yaw.axis) * axes_.yaw.max; + velocity_publisher_.publish(velocity_); + } + + sensor_msgs::Joy::_axes_type::value_type getAxis(const sensor_msgs::JoyConstPtr& joy, int axis) + { + if (axis == 0) return 0; + sensor_msgs::Joy::_axes_type::value_type sign = 1.0; + if (axis < 0) { sign = -1.0; axis = -axis; } + if ((size_t)axis > joy->axes.size()) return 0; + return sign * joy->axes[axis - 1]; + } + + sensor_msgs::Joy::_buttons_type::value_type getButton(const sensor_msgs::JoyConstPtr& joy, int button) + { + if (button <= 0) return 0; + if ((size_t)button > joy->axes.size()) return 0; + return joy->buttons[button - 1]; + } + + void stop() + { + velocity_ = geometry_msgs::Twist(); + velocity_publisher_.publish(velocity_); + } +}; + +} // namespace hector_quadrotor + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "quadrotor_teleop"); + + hector_quadrotor::Teleop teleop; + ros::spin(); + + return 0; +} diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/CMakeLists.txt b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/CMakeLists.txt new file mode 100644 index 0000000..f8f1c9c --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/CMakeLists.txt @@ -0,0 +1,30 @@ +cmake_minimum_required(VERSION 2.4.6) +include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) + +# Set the build type. Options are: +# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage +# Debug : w/ debug symbols, w/o optimization +# Release : w/o debug symbols, w/ optimization +# RelWithDebInfo : w/ debug symbols, w/ optimization +# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries +#set(ROS_BUILD_TYPE RelWithDebInfo) + +rosbuild_init() + +#set the default path for built executables to the "bin" directory +set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) +#set the default path for built libraries to the "lib" directory +set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) + +#uncomment if you have defined messages +#rosbuild_genmsg() +#uncomment if you have defined services +#rosbuild_gensrv() + +#common commands for building c++ executables and libraries +#rosbuild_add_library(${PROJECT_NAME} src/example.cpp) +#target_link_libraries(${PROJECT_NAME} another_library) +#rosbuild_add_boost_directories() +#rosbuild_link_boost(${PROJECT_NAME} thread) +#rosbuild_add_executable(example examples/example.cpp) +#target_link_libraries(example ${PROJECT_NAME}) diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/Makefile b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/Makefile new file mode 100644 index 0000000..b75b928 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/Makefile @@ -0,0 +1 @@ +include $(shell rospack find mk)/cmake.mk \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/ROS_NOBUILD b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/ROS_NOBUILD new file mode 100644 index 0000000..f1231a5 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/ROS_NOBUILD @@ -0,0 +1 @@ +created by rosmake to mark as installed \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/launch/xacrodisplay_quadrotor_base.launch b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/launch/xacrodisplay_quadrotor_base.launch new file mode 100644 index 0000000..a4fff21 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/launch/xacrodisplay_quadrotor_base.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/mainpage.dox b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/mainpage.dox new file mode 100644 index 0000000..87df371 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/mainpage.dox @@ -0,0 +1,26 @@ +/** +\mainpage +\htmlinclude manifest.html + +\b hector_quadrotor_urdf is ... + + + + +\section codeapi Code API + + + + +*/ diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/manifest.xml b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/manifest.xml new file mode 100644 index 0000000..d2a68c1 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/manifest.xml @@ -0,0 +1,16 @@ + + + + hector_quadrotor_urdf provides an URDF model of a quadrotor UAV. + + + Stefan Kohlbrecher and Johannes Meyer + BSD + + http://ros.org/wiki/hector_quadrotor_urdf + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/meshes/quadrotor/blender/quadrotor_base.blend b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/meshes/quadrotor/blender/quadrotor_base.blend new file mode 100644 index 0000000..af035a6 Binary files /dev/null and b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/meshes/quadrotor/blender/quadrotor_base.blend differ diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/meshes/quadrotor/quadrotor_base.dae b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/meshes/quadrotor/quadrotor_base.dae new file mode 100644 index 0000000..ab62cd7 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/meshes/quadrotor/quadrotor_base.dae @@ -0,0 +1,235 @@ + + + + + Stefan Kohlbrecher + Blender 2.61.4 r43829 + + 2012-02-03T14:20:49 + 2012-02-03T14:20:49 + + Z_UP + + + + + + + + 0 0 0 1 + + + 0.1 0.1 0.1 1 + + + 1 0 0.0106101 1 + + + 0.5 0.5 0.5 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b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotor_base.urdf.xacro new file mode 100644 index 0000000..54c7525 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotor_base.urdf.xacro @@ -0,0 +1,45 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + false + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotor_downward_cam.urdf.xacro b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotor_downward_cam.urdf.xacro new file mode 100644 index 0000000..0216cf3 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotor_downward_cam.urdf.xacro @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotor_hokuyo_utm30lx.urdf.xacro b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotor_hokuyo_utm30lx.urdf.xacro new file mode 100644 index 0000000..7b4755d --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotor_hokuyo_utm30lx.urdf.xacro @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotor_with_asus.urdf.xacro b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotor_with_asus.urdf.xacro new file mode 100644 index 0000000..81f86e5 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotor_with_asus.urdf.xacro @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotor_with_asus_with_hokuyo_utm30lx.urdf.xacro b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotor_with_asus_with_hokuyo_utm30lx.urdf.xacro new file mode 100644 index 0000000..bb8628a --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotor_with_asus_with_hokuyo_utm30lx.urdf.xacro @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotor_with_cam.urdf.xacro b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotor_with_cam.urdf.xacro new file mode 100644 index 0000000..3721bd2 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotor_with_cam.urdf.xacro @@ -0,0 +1,29 @@ + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotor_with_kinect.urdf.xacro b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotor_with_kinect.urdf.xacro new file mode 100644 index 0000000..89f2222 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotor_with_kinect.urdf.xacro @@ -0,0 +1,23 @@ + + + + + + + + + + + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotore.urdf b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotore.urdf new file mode 100644 index 0000000..488d4ee --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotore.urdf @@ -0,0 +1,247 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + 10 + 0 0 0 0 0 0 + false + + + + 3 + 1 + -0.349065850399 + 0.349065850399 + + + 3 + 1 + -0.349065850399 + 0.349065850399 + + + + 0.03 + 3.0 + 0.01 + + + + 0.005 + sonar_height + sonar_link + + + + + false + + base_link + + + 100.0 + base_link + raw_imu + 0 0 0 + + 0 + + 0.5 0.5 0.5 + 0.35 0.35 0.3 + 0.1 0.1 0.1 + 0.05 0.05 0.015 + 0.1 + 0.05 + + + 10.0 + base_link + pressure_height + altimeter + 0 + 0.1 + 0.1 + + + 10.0 + base_link + magnetic + 0 0 0 + 0.0 0.0 0.0 + 1.3e-2 1.3e-2 1.3e-2 + + + 4.0 + base_link + fix + fix_velocity + 5.0 5.0 5.0 + 0.01 0.01 0.01 + 0 0 0 + 0.05 0.05 0.05 + + + 100.0 + base_link + ground_truth/state + 0.0 + map + + + true + 1000.0 + + + + + true + 0.0 + base_link + cmd_vel + ground_truth/state + raw_imu + 10.0 + 5.0 + 0.5 + 2.0 + 1.0 + 1.5 + 5.0 + 1.0 + 5 + 5.0 + 1.0 + 2 + 30 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 20 + + 1.0471975512 + + R8G8B8 + 640 + 480 + + + 0.05 + 3 + + + + true + 20 + camera/rgb/image_raw + camera/rgb/camera_info + camera/depth/image_raw + camera/depth/camera_info + camera/depth/points + camera_depth_optical_frame + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotore.urdf~ b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotore.urdf~ new file mode 100644 index 0000000..f2467ff --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotore.urdf~ @@ -0,0 +1,248 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + 10 + 0 0 0 0 0 0 + false + + + + 3 + 1 + -0.349065850399 + 0.349065850399 + + + 3 + 1 + -0.349065850399 + 0.349065850399 + + + + 0.03 + 3.0 + 0.01 + + + + 0.005 + sonar_height + sonar_link + + + + + false + + base_link + + + 100.0 + base_link + raw_imu + 0 0 0 + + 0 + + 0.5 0.5 0.5 + 0.35 0.35 0.3 + 0.1 0.1 0.1 + 0.05 0.05 0.015 + 0.1 + 0.05 + + + 10.0 + base_link + pressure_height + altimeter + 0 + 0.1 + 0.1 + + + 10.0 + base_link + magnetic + 0 0 0 + 0.0 0.0 0.0 + 1.3e-2 1.3e-2 1.3e-2 + + + 4.0 + base_link + fix + fix_velocity + 5.0 5.0 5.0 + 0.01 0.01 0.01 + 0 0 0 + 0.05 0.05 0.05 + + + 100.0 + base_link + ground_truth/state + 0.0 + map + + + true + 1000.0 + + + + + + true + 0.0 + base_link + cmd_vel + ground_truth/state + raw_imu + 10.0 + 5.0 + 0.5 + 2.0 + 1.0 + 1.5 + 5.0 + 1.0 + 5 + 5.0 + 1.0 + 2 + 30 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 20 + + 1.0471975512 + + R8G8B8 + 640 + 480 + + + 0.05 + 3 + + + + true + 20 + camera/rgb/image_raw + camera/rgb/camera_info + camera/depth/image_raw + camera/depth/camera_info + camera/depth/points + camera_depth_optical_frame + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/CMakeLists.txt b/ROS-groovy/hector_quadrotor/hector_uav_msgs/CMakeLists.txt new file mode 100644 index 0000000..5891795 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/CMakeLists.txt @@ -0,0 +1,30 @@ +cmake_minimum_required(VERSION 2.4.6) +include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) + +# Set the build type. Options are: +# Coverage : w/ debug symbols, w/o optimization, w/ code-coverage +# Debug : w/ debug symbols, w/o optimization +# Release : w/o debug symbols, w/ optimization +# RelWithDebInfo : w/ debug symbols, w/ optimization +# MinSizeRel : w/o debug symbols, w/ optimization, stripped binaries +#set(ROS_BUILD_TYPE RelWithDebInfo) + +rosbuild_init() + +#set the default path for built executables to the "bin" directory +set(EXECUTABLE_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/bin) +#set the default path for built libraries to the "lib" directory +set(LIBRARY_OUTPUT_PATH ${PROJECT_SOURCE_DIR}/lib) + +#uncomment if you have defined messages +rosbuild_genmsg() +#uncomment if you have defined services +#rosbuild_gensrv() + +#common commands for building c++ executables and libraries +#rosbuild_add_library(${PROJECT_NAME} src/example.cpp) +#target_link_libraries(${PROJECT_NAME} another_library) +#rosbuild_add_boost_directories() +#rosbuild_link_boost(${PROJECT_NAME} thread) +#rosbuild_add_executable(example examples/example.cpp) +#target_link_libraries(example ${PROJECT_NAME}) diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/Makefile b/ROS-groovy/hector_quadrotor/hector_uav_msgs/Makefile new file mode 100644 index 0000000..b75b928 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/Makefile @@ -0,0 +1 @@ +include $(shell rospack find mk)/cmake.mk \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/ROS_NOBUILD b/ROS-groovy/hector_quadrotor/hector_uav_msgs/ROS_NOBUILD new file mode 100644 index 0000000..f1231a5 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/ROS_NOBUILD @@ -0,0 +1 @@ +created by rosmake to mark as installed \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/include/hector_uav_msgs/Altimeter/pressure_height.h b/ROS-groovy/hector_quadrotor/hector_uav_msgs/include/hector_uav_msgs/Altimeter/pressure_height.h new file mode 100644 index 0000000..6958138 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/include/hector_uav_msgs/Altimeter/pressure_height.h @@ -0,0 +1,61 @@ +//================================================================================================= +// Copyright (c) 2013, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#ifndef HECTOR_UAV_MSGS_ALTIMETER_PRESSURE_HEIGHT_H +#define HECTOR_UAV_MSGS_ALTIMETER_PRESSURE_HEIGHT_H + +#include +#include + +namespace hector_uav_msgs { + +static const Altimeter::_qnh_type STANDARD_PRESSURE = 1013.25; + +static inline Altimeter::_altitude_type altitudeFromPressure(Altimeter::_pressure_type pressure, Altimeter::_qnh_type qnh = STANDARD_PRESSURE) { + return 288.15 / 0.0065 * (1.0 - pow(pressure / qnh, 1.0/5.255)); +} + +static inline Altimeter::_pressure_type pressureFromAltitude(Altimeter::_altitude_type altitude, Altimeter::_qnh_type qnh = STANDARD_PRESSURE) { + return qnh * pow(1.0 - (0.0065 * altitude) / 288.15, 5.255); +} + +static inline Altimeter& altitudeFromPressure(Altimeter& altimeter) { + if (altimeter.qnh == 0.0) altimeter.qnh = STANDARD_PRESSURE; + altimeter.altitude = altitudeFromPressure(altimeter.pressure, altimeter.qnh); + return altimeter; +} + +static inline Altimeter& pressureFromAltitude(Altimeter& altimeter) { + if (altimeter.qnh == 0.0) altimeter.qnh = STANDARD_PRESSURE; + altimeter.pressure = pressureFromAltitude(altimeter.altitude, altimeter.qnh); + return altimeter; +} + +} // namespace hector_uav_msgs + +#endif // HECTOR_UAV_MSGS_ALTIMETER_PRESSURE_HEIGHT_H diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/include/hector_uav_msgs/ControlSource.h b/ROS-groovy/hector_quadrotor/hector_uav_msgs/include/hector_uav_msgs/ControlSource.h new file mode 100644 index 0000000..bd4db2a --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/include/hector_uav_msgs/ControlSource.h @@ -0,0 +1,56 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#ifndef HECTOR_UAV_MSGS_CONTROLSOURCE_H +#define HECTOR_UAV_MSGS_CONTROLSOURCE_H + +namespace hector_uav_msgs +{ + typedef uint8_t ControlSource; + + enum { + CONTROL_AUTONOMOUS = 0, + CONTROL_REMOTE = 1, + CONTROL_JOYSTICK = 2 + }; + + template + static inline InStream& operator>>(InStream& in, ControlSource& value) { + int temp; + in >> temp; + value = static_cast(temp); + return in; + } + + template + static inline OutStream& operator<<(OutStream& out, const ControlSource& value) { + return out << static_cast(value); + } +} + +#endif // HECTOR_UAV_MSGS_CONTROLSOURCE_H diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/include/hector_uav_msgs/RC/functions.h b/ROS-groovy/hector_quadrotor/hector_uav_msgs/include/hector_uav_msgs/RC/functions.h new file mode 100644 index 0000000..82c0df3 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/include/hector_uav_msgs/RC/functions.h @@ -0,0 +1,103 @@ +//================================================================================================= +// Copyright (c) 2012, Johannes Meyer, TU Darmstadt +// All rights reserved. + +// Redistribution and use in source and binary forms, with or without +// modification, are permitted provided that the following conditions are met: +// * Redistributions of source code must retain the above copyright +// notice, this list of conditions and the following disclaimer. +// * Redistributions in binary form must reproduce the above copyright +// notice, this list of conditions and the following disclaimer in the +// documentation and/or other materials provided with the distribution. +// * Neither the name of the Flight Systems and Automatic Control group, +// TU Darmstadt, nor the names of its contributors may be used to +// endorse or promote products derived from this software without +// specific prior written permission. + +// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND +// ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED +// WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE +// DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER BE LIABLE FOR ANY +// DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES +// (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +// LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND +// ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT +// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS +// SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. +//================================================================================================= + +#ifndef HECTOR_UAV_MSGS_RC_FUNCTIONS_H +#define HECTOR_UAV_MSGS_RC_FUNCTIONS_H + +#include +#include + +namespace hector_uav_msgs { + + static inline const char *getFunctionString(uint8_t function) + { + switch(function) { + case RC::ROLL: return "ROLL"; + case RC::PITCH: return "PITCH"; + case RC::YAW: return "YAW"; + case RC::STEER: return "STEER"; + case RC::HEIGHT: return "HEIGHT"; + case RC::THRUST: return "THRUST"; + case RC::BRAKE: return "BRAKE"; + } + return 0; + } + + static inline bool hasAxis(const RC& rc, RC::_axis_function_type::value_type function) + { + return std::find(rc.axis_function.begin(), rc.axis_function.end(), function) != rc.axis_function.end(); + } + + static inline bool getAxis(const RC& rc, RC::_axis_function_type::value_type function, RC::_axis_type::value_type& value) + { + if (!rc.valid) return false; + const RC::_axis_function_type::const_iterator it = std::find(rc.axis_function.begin(), rc.axis_function.end(), function); + if (it == rc.axis_function.end()) return false; + value = rc.axis.at(it - rc.axis_function.begin()); + return true; + } + + static inline void setAxis(RC& rc, RC::_axis_function_type::value_type function, RC::_axis_type::value_type value) + { + const RC::_axis_function_type::iterator it = std::find(rc.axis_function.begin(), rc.axis_function.end(), function); + if (it == rc.axis_function.end()) { + rc.axis_function.push_back(function); + rc.axis.push_back(value); + } else { + rc.axis.at(it - rc.axis_function.begin()) = value; + } + } + + static inline bool hasSwitch(const RC& rc, RC::_swit_function_type::value_type function) + { + return std::find(rc.swit_function.begin(), rc.swit_function.end(), function) != rc.swit_function.end(); + } + + static inline bool getSwitch(const RC& rc, RC::_swit_function_type::value_type function, RC::_swit_type::value_type& value) + { + if (!rc.valid) return false; + const RC::_swit_function_type::const_iterator it = std::find(rc.swit_function.begin(), rc.swit_function.end(), function); + if (it == rc.swit_function.end()) return false; + value = rc.swit.at(it - rc.swit_function.begin()); + return true; + } + + static inline void setSwitch(RC& rc, RC::_swit_function_type::value_type function, RC::_swit_type::value_type value) + { + const RC::_swit_function_type::iterator it = std::find(rc.swit_function.begin(), rc.swit_function.end(), function); + if (it == rc.swit_function.end()) { + rc.swit_function.push_back(function); + rc.swit.push_back(value); + } else { + rc.swit.at(it - rc.swit_function.begin()) = value; + } + } + +} // namespace hector_uav_msgs + +#endif // HECTOR_UAV_MSGS_RC_FUNCTIONS_H diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/mainpage.dox b/ROS-groovy/hector_quadrotor/hector_uav_msgs/mainpage.dox new file mode 100644 index 0000000..422f6cd --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/mainpage.dox @@ -0,0 +1,14 @@ +/** +\mainpage +\htmlinclude manifest.html + +\b hector_uav_msgs + + + +--> + + +*/ diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/manifest.xml b/ROS-groovy/hector_quadrotor/hector_uav_msgs/manifest.xml new file mode 100644 index 0000000..d499a40 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/manifest.xml @@ -0,0 +1,20 @@ + + + + hector_uav_msgs + + + Johannes Meyer + BSD + + http://ros.org/wiki/hector_uav_msgs + + + + + + + + + + diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/Altimeter.msg b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/Altimeter.msg new file mode 100644 index 0000000..20b6a3c --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/Altimeter.msg @@ -0,0 +1,4 @@ +Header header +float32 altitude +float32 pressure +float32 qnh diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/AttitudeCommand.msg b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/AttitudeCommand.msg new file mode 100644 index 0000000..d63fb89 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/AttitudeCommand.msg @@ -0,0 +1,3 @@ +Header header +float32 roll +float32 pitch diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/Compass.msg b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/Compass.msg new file mode 100644 index 0000000..d2bb3fe --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/Compass.msg @@ -0,0 +1,4 @@ +Header header +float32 magnetic_heading +float32 declination + diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/ControllerState.msg b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/ControllerState.msg new file mode 100644 index 0000000..2e921e5 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/ControllerState.msg @@ -0,0 +1,14 @@ +Header header +uint8 source + +uint8 mode +uint8 MOTORS = 1 +uint8 ATTITUDE = 2 +uint8 VELOCITY = 4 +uint8 POSITION = 8 +uint8 HEADING = 16 +uint8 HEIGHT = 32 + +uint8 state +uint8 MOTORS_RUNNING = 1 +uint8 AIRBORNE = 2 diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/HeadingCommand.msg b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/HeadingCommand.msg new file mode 100644 index 0000000..5ad41a3 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/HeadingCommand.msg @@ -0,0 +1,2 @@ +Header header +float32 heading diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/HeightCommand.msg b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/HeightCommand.msg new file mode 100644 index 0000000..0d64519 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/HeightCommand.msg @@ -0,0 +1,2 @@ +Header header +float32 height diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/MotorCommand.msg b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/MotorCommand.msg new file mode 100644 index 0000000..10ed1db --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/MotorCommand.msg @@ -0,0 +1,5 @@ +Header header +float32[] force +float32[] torque +float32[] frequency +float32[] voltage diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/MotorPWM.msg b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/MotorPWM.msg new file mode 100644 index 0000000..d2bf65f --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/MotorPWM.msg @@ -0,0 +1,2 @@ +Header header +uint8[] pwm diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/MotorStatus.msg b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/MotorStatus.msg new file mode 100644 index 0000000..9c09473 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/MotorStatus.msg @@ -0,0 +1,7 @@ +Header header +bool on +bool running +float32[] voltage +float32[] frequency +float32[] current + diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/PositionXYCommand.msg b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/PositionXYCommand.msg new file mode 100644 index 0000000..de72e09 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/PositionXYCommand.msg @@ -0,0 +1,3 @@ +Header header +float32 x +float32 y diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/RC.msg b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/RC.msg new file mode 100644 index 0000000..8dfdc55 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/RC.msg @@ -0,0 +1,18 @@ +Header header + +uint8 ROLL = 1 +uint8 PITCH = 2 +uint8 YAW = 3 +uint8 STEER = 4 +uint8 HEIGHT = 5 +uint8 THRUST = 6 +uint8 BRAKE = 7 + +uint8 status +bool valid + +float32[] axis +uint8[] axis_function + +int8[] swit +uint8[] swit_function diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/RawImu.msg b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/RawImu.msg new file mode 100644 index 0000000..1014413 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/RawImu.msg @@ -0,0 +1,3 @@ +Header header +uint16[3] angular_velocity +uint16[3] linear_acceleration diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/RawMagnetic.msg b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/RawMagnetic.msg new file mode 100644 index 0000000..0a2543c --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/RawMagnetic.msg @@ -0,0 +1,2 @@ +Header header +float64[3] channel diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/RawRC.msg b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/RawRC.msg new file mode 100644 index 0000000..52b397c --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/RawRC.msg @@ -0,0 +1,3 @@ +Header header +uint8 status +uint16[] channel diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/RuddersCommand.msg b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/RuddersCommand.msg new file mode 100644 index 0000000..24a2773 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/RuddersCommand.msg @@ -0,0 +1,4 @@ +Header header +float32 aileron +float32 elevator +float32 rudder diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/ServoCommand.msg b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/ServoCommand.msg new file mode 100644 index 0000000..91b661c --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/ServoCommand.msg @@ -0,0 +1,2 @@ +Header header +uint16[] value diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/Supply.msg b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/Supply.msg new file mode 100644 index 0000000..ca08cd6 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/Supply.msg @@ -0,0 +1,3 @@ +Header header +float32[] voltage +float32[] current diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/ThrustCommand.msg b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/ThrustCommand.msg new file mode 100644 index 0000000..fefdb9e --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/ThrustCommand.msg @@ -0,0 +1,2 @@ +Header header +float32 thrust diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/VelocityXYCommand.msg b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/VelocityXYCommand.msg new file mode 100644 index 0000000..de72e09 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/VelocityXYCommand.msg @@ -0,0 +1,3 @@ +Header header +float32 x +float32 y diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/VelocityZCommand.msg b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/VelocityZCommand.msg new file mode 100644 index 0000000..0910464 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/VelocityZCommand.msg @@ -0,0 +1,2 @@ +Header header +float32 z diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/YawrateCommand.msg b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/YawrateCommand.msg new file mode 100644 index 0000000..fd2de10 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg/YawrateCommand.msg @@ -0,0 +1,2 @@ +Header header +float32 turnrate diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/Altimeter.h b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/Altimeter.h new file mode 100644 index 0000000..eeb481f --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/Altimeter.h @@ -0,0 +1,185 @@ +/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-groovy-hector-quadrotor-0.2.3/debian/ros-groovy-hector-quadrotor/opt/ros/groovy/stacks/hector_quadrotor/hector_uav_msgs/msg/Altimeter.msg */ +#ifndef HECTOR_UAV_MSGS_MESSAGE_ALTIMETER_H +#define HECTOR_UAV_MSGS_MESSAGE_ALTIMETER_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" + +namespace hector_uav_msgs +{ +template +struct Altimeter_ { + typedef Altimeter_ Type; + + Altimeter_() + : header() + , altitude(0.0) + , pressure(0.0) + , qnh(0.0) + { + } + + Altimeter_(const ContainerAllocator& _alloc) + : header(_alloc) + , altitude(0.0) + , pressure(0.0) + , qnh(0.0) + { + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef float _altitude_type; + float altitude; + + typedef float _pressure_type; + float pressure; + + typedef float _qnh_type; + float qnh; + + + typedef boost::shared_ptr< ::hector_uav_msgs::Altimeter_ > Ptr; + typedef boost::shared_ptr< ::hector_uav_msgs::Altimeter_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct Altimeter +typedef ::hector_uav_msgs::Altimeter_ > Altimeter; + +typedef boost::shared_ptr< ::hector_uav_msgs::Altimeter> AltimeterPtr; +typedef boost::shared_ptr< ::hector_uav_msgs::Altimeter const> AltimeterConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::hector_uav_msgs::Altimeter_ & v) +{ + ros::message_operations::Printer< ::hector_uav_msgs::Altimeter_ >::stream(s, "", v); + return s;} + +} // namespace hector_uav_msgs + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::hector_uav_msgs::Altimeter_ > : public TrueType {}; +template struct IsMessage< ::hector_uav_msgs::Altimeter_ const> : public TrueType {}; +template +struct MD5Sum< ::hector_uav_msgs::Altimeter_ > { + static const char* value() + { + return "c785451e2f67a76b902818138e9b53c6"; + } + + static const char* value(const ::hector_uav_msgs::Altimeter_ &) { return value(); } + static const uint64_t static_value1 = 0xc785451e2f67a76bULL; + static const uint64_t static_value2 = 0x902818138e9b53c6ULL; +}; + +template +struct DataType< ::hector_uav_msgs::Altimeter_ > { + static const char* value() + { + return "hector_uav_msgs/Altimeter"; + } + + static const char* value(const ::hector_uav_msgs::Altimeter_ &) { return value(); } +}; + +template +struct Definition< ::hector_uav_msgs::Altimeter_ > { + static const char* value() + { + return "Header header\n\ +float32 altitude\n\ +float32 pressure\n\ +float32 qnh\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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\ +"; + } + + static const char* value(const ::hector_uav_msgs::Altimeter_ &) { return value(); } +}; + +template struct HasHeader< ::hector_uav_msgs::Altimeter_ > : public TrueType {}; +template struct HasHeader< const ::hector_uav_msgs::Altimeter_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::hector_uav_msgs::Altimeter_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.altitude); + stream.next(m.pressure); + stream.next(m.qnh); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct Altimeter_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::hector_uav_msgs::Altimeter_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::hector_uav_msgs::Altimeter_ & v) + { + s << indent << "header: "; +s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "altitude: "; + Printer::stream(s, indent + " ", v.altitude); + s << indent << "pressure: "; + Printer::stream(s, indent + " ", v.pressure); + s << indent << "qnh: "; + Printer::stream(s, indent + " ", v.qnh); + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // HECTOR_UAV_MSGS_MESSAGE_ALTIMETER_H + diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/AttitudeCommand.h b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/AttitudeCommand.h new file mode 100644 index 0000000..f13140c --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/AttitudeCommand.h @@ -0,0 +1,176 @@ +/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-groovy-hector-quadrotor-0.2.3/debian/ros-groovy-hector-quadrotor/opt/ros/groovy/stacks/hector_quadrotor/hector_uav_msgs/msg/AttitudeCommand.msg */ +#ifndef HECTOR_UAV_MSGS_MESSAGE_ATTITUDECOMMAND_H +#define HECTOR_UAV_MSGS_MESSAGE_ATTITUDECOMMAND_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" + +namespace hector_uav_msgs +{ +template +struct AttitudeCommand_ { + typedef AttitudeCommand_ Type; + + AttitudeCommand_() + : header() + , roll(0.0) + , pitch(0.0) + { + } + + AttitudeCommand_(const ContainerAllocator& _alloc) + : header(_alloc) + , roll(0.0) + , pitch(0.0) + { + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef float _roll_type; + float roll; + + typedef float _pitch_type; + float pitch; + + + typedef boost::shared_ptr< ::hector_uav_msgs::AttitudeCommand_ > Ptr; + typedef boost::shared_ptr< ::hector_uav_msgs::AttitudeCommand_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct AttitudeCommand +typedef ::hector_uav_msgs::AttitudeCommand_ > AttitudeCommand; + +typedef boost::shared_ptr< ::hector_uav_msgs::AttitudeCommand> AttitudeCommandPtr; +typedef boost::shared_ptr< ::hector_uav_msgs::AttitudeCommand const> AttitudeCommandConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::hector_uav_msgs::AttitudeCommand_ & v) +{ + ros::message_operations::Printer< ::hector_uav_msgs::AttitudeCommand_ >::stream(s, "", v); + return s;} + +} // namespace hector_uav_msgs + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::hector_uav_msgs::AttitudeCommand_ > : public TrueType {}; +template struct IsMessage< ::hector_uav_msgs::AttitudeCommand_ const> : public TrueType {}; +template +struct MD5Sum< ::hector_uav_msgs::AttitudeCommand_ > { + static const char* value() + { + return "cceacd88dad80f3e3fd1466d24264ec6"; + } + + static const char* value(const ::hector_uav_msgs::AttitudeCommand_ &) { return value(); } + static const uint64_t static_value1 = 0xcceacd88dad80f3eULL; + static const uint64_t static_value2 = 0x3fd1466d24264ec6ULL; +}; + +template +struct DataType< ::hector_uav_msgs::AttitudeCommand_ > { + static const char* value() + { + return "hector_uav_msgs/AttitudeCommand"; + } + + static const char* value(const ::hector_uav_msgs::AttitudeCommand_ &) { return value(); } +}; + +template +struct Definition< ::hector_uav_msgs::AttitudeCommand_ > { + static const char* value() + { + return "Header header\n\ +float32 roll\n\ +float32 pitch\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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\ +"; + } + + static const char* value(const ::hector_uav_msgs::AttitudeCommand_ &) { return value(); } +}; + +template struct HasHeader< ::hector_uav_msgs::AttitudeCommand_ > : public TrueType {}; +template struct HasHeader< const ::hector_uav_msgs::AttitudeCommand_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::hector_uav_msgs::AttitudeCommand_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.roll); + stream.next(m.pitch); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct AttitudeCommand_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::hector_uav_msgs::AttitudeCommand_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::hector_uav_msgs::AttitudeCommand_ & v) + { + s << indent << "header: "; +s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "roll: "; + Printer::stream(s, indent + " ", v.roll); + s << indent << "pitch: "; + Printer::stream(s, indent + " ", v.pitch); + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // HECTOR_UAV_MSGS_MESSAGE_ATTITUDECOMMAND_H + diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/Compass.h b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/Compass.h new file mode 100644 index 0000000..d92b0a5 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/Compass.h @@ -0,0 +1,177 @@ +/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-groovy-hector-quadrotor-0.2.3/debian/ros-groovy-hector-quadrotor/opt/ros/groovy/stacks/hector_quadrotor/hector_uav_msgs/msg/Compass.msg */ +#ifndef HECTOR_UAV_MSGS_MESSAGE_COMPASS_H +#define HECTOR_UAV_MSGS_MESSAGE_COMPASS_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" + +namespace hector_uav_msgs +{ +template +struct Compass_ { + typedef Compass_ Type; + + Compass_() + : header() + , magnetic_heading(0.0) + , declination(0.0) + { + } + + Compass_(const ContainerAllocator& _alloc) + : header(_alloc) + , magnetic_heading(0.0) + , declination(0.0) + { + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef float _magnetic_heading_type; + float magnetic_heading; + + typedef float _declination_type; + float declination; + + + typedef boost::shared_ptr< ::hector_uav_msgs::Compass_ > Ptr; + typedef boost::shared_ptr< ::hector_uav_msgs::Compass_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct Compass +typedef ::hector_uav_msgs::Compass_ > Compass; + +typedef boost::shared_ptr< ::hector_uav_msgs::Compass> CompassPtr; +typedef boost::shared_ptr< ::hector_uav_msgs::Compass const> CompassConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::hector_uav_msgs::Compass_ & v) +{ + ros::message_operations::Printer< ::hector_uav_msgs::Compass_ >::stream(s, "", v); + return s;} + +} // namespace hector_uav_msgs + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::hector_uav_msgs::Compass_ > : public TrueType {}; +template struct IsMessage< ::hector_uav_msgs::Compass_ const> : public TrueType {}; +template +struct MD5Sum< ::hector_uav_msgs::Compass_ > { + static const char* value() + { + return "69b5db73a2f794a5a815baf6b84a4be5"; + } + + static const char* value(const ::hector_uav_msgs::Compass_ &) { return value(); } + static const uint64_t static_value1 = 0x69b5db73a2f794a5ULL; + static const uint64_t static_value2 = 0xa815baf6b84a4be5ULL; +}; + +template +struct DataType< ::hector_uav_msgs::Compass_ > { + static const char* value() + { + return "hector_uav_msgs/Compass"; + } + + static const char* value(const ::hector_uav_msgs::Compass_ &) { return value(); } +}; + +template +struct Definition< ::hector_uav_msgs::Compass_ > { + static const char* value() + { + return "Header header\n\ +float32 magnetic_heading\n\ +float32 declination\n\ +\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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\ +"; + } + + static const char* value(const ::hector_uav_msgs::Compass_ &) { return value(); } +}; + +template struct HasHeader< ::hector_uav_msgs::Compass_ > : public TrueType {}; +template struct HasHeader< const ::hector_uav_msgs::Compass_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::hector_uav_msgs::Compass_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.magnetic_heading); + stream.next(m.declination); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct Compass_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::hector_uav_msgs::Compass_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::hector_uav_msgs::Compass_ & v) + { + s << indent << "header: "; +s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "magnetic_heading: "; + Printer::stream(s, indent + " ", v.magnetic_heading); + s << indent << "declination: "; + Printer::stream(s, indent + " ", v.declination); + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // HECTOR_UAV_MSGS_MESSAGE_COMPASS_H + diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/ControllerState.h b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/ControllerState.h new file mode 100644 index 0000000..26c7d65 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/ControllerState.h @@ -0,0 +1,203 @@ +/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-groovy-hector-quadrotor-0.2.3/debian/ros-groovy-hector-quadrotor/opt/ros/groovy/stacks/hector_quadrotor/hector_uav_msgs/msg/ControllerState.msg */ +#ifndef HECTOR_UAV_MSGS_MESSAGE_CONTROLLERSTATE_H +#define HECTOR_UAV_MSGS_MESSAGE_CONTROLLERSTATE_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" + +namespace hector_uav_msgs +{ +template +struct ControllerState_ { + typedef ControllerState_ Type; + + ControllerState_() + : header() + , source(0) + , mode(0) + , state(0) + { + } + + ControllerState_(const ContainerAllocator& _alloc) + : header(_alloc) + , source(0) + , mode(0) + , state(0) + { + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef uint8_t _source_type; + uint8_t source; + + typedef uint8_t _mode_type; + uint8_t mode; + + typedef uint8_t _state_type; + uint8_t state; + + enum { MOTORS = 1 }; + enum { ATTITUDE = 2 }; + enum { VELOCITY = 4 }; + enum { POSITION = 8 }; + enum { HEADING = 16 }; + enum { HEIGHT = 32 }; + enum { MOTORS_RUNNING = 1 }; + enum { AIRBORNE = 2 }; + + typedef boost::shared_ptr< ::hector_uav_msgs::ControllerState_ > Ptr; + typedef boost::shared_ptr< ::hector_uav_msgs::ControllerState_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct ControllerState +typedef ::hector_uav_msgs::ControllerState_ > ControllerState; + +typedef boost::shared_ptr< ::hector_uav_msgs::ControllerState> ControllerStatePtr; +typedef boost::shared_ptr< ::hector_uav_msgs::ControllerState const> ControllerStateConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::hector_uav_msgs::ControllerState_ & v) +{ + ros::message_operations::Printer< ::hector_uav_msgs::ControllerState_ >::stream(s, "", v); + return s;} + +} // namespace hector_uav_msgs + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::hector_uav_msgs::ControllerState_ > : public TrueType {}; +template struct IsMessage< ::hector_uav_msgs::ControllerState_ const> : public TrueType {}; +template +struct MD5Sum< ::hector_uav_msgs::ControllerState_ > { + static const char* value() + { + return "a0f668496c9bbf505c01f59674f2a0c2"; + } + + static const char* value(const ::hector_uav_msgs::ControllerState_ &) { return value(); } + static const uint64_t static_value1 = 0xa0f668496c9bbf50ULL; + static const uint64_t static_value2 = 0x5c01f59674f2a0c2ULL; +}; + +template +struct DataType< ::hector_uav_msgs::ControllerState_ > { + static const char* value() + { + return "hector_uav_msgs/ControllerState"; + } + + static const char* value(const ::hector_uav_msgs::ControllerState_ &) { return value(); } +}; + +template +struct Definition< ::hector_uav_msgs::ControllerState_ > { + static const char* value() + { + return "Header header\n\ +uint8 source\n\ +\n\ +uint8 mode\n\ +uint8 MOTORS = 1\n\ +uint8 ATTITUDE = 2\n\ +uint8 VELOCITY = 4\n\ +uint8 POSITION = 8\n\ +uint8 HEADING = 16\n\ +uint8 HEIGHT = 32\n\ +\n\ +uint8 state\n\ +uint8 MOTORS_RUNNING = 1\n\ +uint8 AIRBORNE = 2\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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\ +"; + } + + static const char* value(const ::hector_uav_msgs::ControllerState_ &) { return value(); } +}; + +template struct HasHeader< ::hector_uav_msgs::ControllerState_ > : public TrueType {}; +template struct HasHeader< const ::hector_uav_msgs::ControllerState_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::hector_uav_msgs::ControllerState_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.source); + stream.next(m.mode); + stream.next(m.state); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct ControllerState_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::hector_uav_msgs::ControllerState_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::hector_uav_msgs::ControllerState_ & v) + { + s << indent << "header: "; +s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "source: "; + Printer::stream(s, indent + " ", v.source); + s << indent << "mode: "; + Printer::stream(s, indent + " ", v.mode); + s << indent << "state: "; + Printer::stream(s, indent + " ", v.state); + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // HECTOR_UAV_MSGS_MESSAGE_CONTROLLERSTATE_H + diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/HeadingCommand.h b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/HeadingCommand.h new file mode 100644 index 0000000..668b4ff --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/HeadingCommand.h @@ -0,0 +1,167 @@ +/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-groovy-hector-quadrotor-0.2.3/debian/ros-groovy-hector-quadrotor/opt/ros/groovy/stacks/hector_quadrotor/hector_uav_msgs/msg/HeadingCommand.msg */ +#ifndef HECTOR_UAV_MSGS_MESSAGE_HEADINGCOMMAND_H +#define HECTOR_UAV_MSGS_MESSAGE_HEADINGCOMMAND_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" + +namespace hector_uav_msgs +{ +template +struct HeadingCommand_ { + typedef HeadingCommand_ Type; + + HeadingCommand_() + : header() + , heading(0.0) + { + } + + HeadingCommand_(const ContainerAllocator& _alloc) + : header(_alloc) + , heading(0.0) + { + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef float _heading_type; + float heading; + + + typedef boost::shared_ptr< ::hector_uav_msgs::HeadingCommand_ > Ptr; + typedef boost::shared_ptr< ::hector_uav_msgs::HeadingCommand_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct HeadingCommand +typedef ::hector_uav_msgs::HeadingCommand_ > HeadingCommand; + +typedef boost::shared_ptr< ::hector_uav_msgs::HeadingCommand> HeadingCommandPtr; +typedef boost::shared_ptr< ::hector_uav_msgs::HeadingCommand const> HeadingCommandConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::hector_uav_msgs::HeadingCommand_ & v) +{ + ros::message_operations::Printer< ::hector_uav_msgs::HeadingCommand_ >::stream(s, "", v); + return s;} + +} // namespace hector_uav_msgs + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::hector_uav_msgs::HeadingCommand_ > : public TrueType {}; +template struct IsMessage< ::hector_uav_msgs::HeadingCommand_ const> : public TrueType {}; +template +struct MD5Sum< ::hector_uav_msgs::HeadingCommand_ > { + static const char* value() + { + return "bbd082d3b4bc79a5314bb6f95aaedc70"; + } + + static const char* value(const ::hector_uav_msgs::HeadingCommand_ &) { return value(); } + static const uint64_t static_value1 = 0xbbd082d3b4bc79a5ULL; + static const uint64_t static_value2 = 0x314bb6f95aaedc70ULL; +}; + +template +struct DataType< ::hector_uav_msgs::HeadingCommand_ > { + static const char* value() + { + return "hector_uav_msgs/HeadingCommand"; + } + + static const char* value(const ::hector_uav_msgs::HeadingCommand_ &) { return value(); } +}; + +template +struct Definition< ::hector_uav_msgs::HeadingCommand_ > { + static const char* value() + { + return "Header header\n\ +float32 heading\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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\ +"; + } + + static const char* value(const ::hector_uav_msgs::HeadingCommand_ &) { return value(); } +}; + +template struct HasHeader< ::hector_uav_msgs::HeadingCommand_ > : public TrueType {}; +template struct HasHeader< const ::hector_uav_msgs::HeadingCommand_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::hector_uav_msgs::HeadingCommand_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.heading); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct HeadingCommand_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::hector_uav_msgs::HeadingCommand_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::hector_uav_msgs::HeadingCommand_ & v) + { + s << indent << "header: "; +s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "heading: "; + Printer::stream(s, indent + " ", v.heading); + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // HECTOR_UAV_MSGS_MESSAGE_HEADINGCOMMAND_H + diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/HeightCommand.h b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/HeightCommand.h new file mode 100644 index 0000000..f9ddaf7 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/HeightCommand.h @@ -0,0 +1,167 @@ +/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-groovy-hector-quadrotor-0.2.3/debian/ros-groovy-hector-quadrotor/opt/ros/groovy/stacks/hector_quadrotor/hector_uav_msgs/msg/HeightCommand.msg */ +#ifndef HECTOR_UAV_MSGS_MESSAGE_HEIGHTCOMMAND_H +#define HECTOR_UAV_MSGS_MESSAGE_HEIGHTCOMMAND_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" + +namespace hector_uav_msgs +{ +template +struct HeightCommand_ { + typedef HeightCommand_ Type; + + HeightCommand_() + : header() + , height(0.0) + { + } + + HeightCommand_(const ContainerAllocator& _alloc) + : header(_alloc) + , height(0.0) + { + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef float _height_type; + float height; + + + typedef boost::shared_ptr< ::hector_uav_msgs::HeightCommand_ > Ptr; + typedef boost::shared_ptr< ::hector_uav_msgs::HeightCommand_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct HeightCommand +typedef ::hector_uav_msgs::HeightCommand_ > HeightCommand; + +typedef boost::shared_ptr< ::hector_uav_msgs::HeightCommand> HeightCommandPtr; +typedef boost::shared_ptr< ::hector_uav_msgs::HeightCommand const> HeightCommandConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::hector_uav_msgs::HeightCommand_ & v) +{ + ros::message_operations::Printer< ::hector_uav_msgs::HeightCommand_ >::stream(s, "", v); + return s;} + +} // namespace hector_uav_msgs + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::hector_uav_msgs::HeightCommand_ > : public TrueType {}; +template struct IsMessage< ::hector_uav_msgs::HeightCommand_ const> : public TrueType {}; +template +struct MD5Sum< ::hector_uav_msgs::HeightCommand_ > { + static const char* value() + { + return "8c63aeb4f8d9305792b3627c1e7a1ab1"; + } + + static const char* value(const ::hector_uav_msgs::HeightCommand_ &) { return value(); } + static const uint64_t static_value1 = 0x8c63aeb4f8d93057ULL; + static const uint64_t static_value2 = 0x92b3627c1e7a1ab1ULL; +}; + +template +struct DataType< ::hector_uav_msgs::HeightCommand_ > { + static const char* value() + { + return "hector_uav_msgs/HeightCommand"; + } + + static const char* value(const ::hector_uav_msgs::HeightCommand_ &) { return value(); } +}; + +template +struct Definition< ::hector_uav_msgs::HeightCommand_ > { + static const char* value() + { + return "Header header\n\ +float32 height\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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\ +"; + } + + static const char* value(const ::hector_uav_msgs::HeightCommand_ &) { return value(); } +}; + +template struct HasHeader< ::hector_uav_msgs::HeightCommand_ > : public TrueType {}; +template struct HasHeader< const ::hector_uav_msgs::HeightCommand_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::hector_uav_msgs::HeightCommand_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.height); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct HeightCommand_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::hector_uav_msgs::HeightCommand_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::hector_uav_msgs::HeightCommand_ & v) + { + s << indent << "header: "; +s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "height: "; + Printer::stream(s, indent + " ", v.height); + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // HECTOR_UAV_MSGS_MESSAGE_HEIGHTCOMMAND_H + diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/MotorCommand.h b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/MotorCommand.h new file mode 100644 index 0000000..edfeb9f --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/MotorCommand.h @@ -0,0 +1,210 @@ +/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-groovy-hector-quadrotor-0.2.3/debian/ros-groovy-hector-quadrotor/opt/ros/groovy/stacks/hector_quadrotor/hector_uav_msgs/msg/MotorCommand.msg */ +#ifndef HECTOR_UAV_MSGS_MESSAGE_MOTORCOMMAND_H +#define HECTOR_UAV_MSGS_MESSAGE_MOTORCOMMAND_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" + +namespace hector_uav_msgs +{ +template +struct MotorCommand_ { + typedef MotorCommand_ Type; + + MotorCommand_() + : header() + , force() + , torque() + , frequency() + , voltage() + { + } + + MotorCommand_(const ContainerAllocator& _alloc) + : header(_alloc) + , force(_alloc) + , torque(_alloc) + , frequency(_alloc) + , voltage(_alloc) + { + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef std::vector::other > _force_type; + std::vector::other > force; + + typedef std::vector::other > _torque_type; + std::vector::other > torque; + + typedef std::vector::other > _frequency_type; + std::vector::other > frequency; + + typedef std::vector::other > _voltage_type; + std::vector::other > voltage; + + + typedef boost::shared_ptr< ::hector_uav_msgs::MotorCommand_ > Ptr; + typedef boost::shared_ptr< ::hector_uav_msgs::MotorCommand_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct MotorCommand +typedef ::hector_uav_msgs::MotorCommand_ > MotorCommand; + +typedef boost::shared_ptr< ::hector_uav_msgs::MotorCommand> MotorCommandPtr; +typedef boost::shared_ptr< ::hector_uav_msgs::MotorCommand const> MotorCommandConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::hector_uav_msgs::MotorCommand_ & v) +{ + ros::message_operations::Printer< ::hector_uav_msgs::MotorCommand_ >::stream(s, "", v); + return s;} + +} // namespace hector_uav_msgs + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::hector_uav_msgs::MotorCommand_ > : public TrueType {}; +template struct IsMessage< ::hector_uav_msgs::MotorCommand_ const> : public TrueType {}; +template +struct MD5Sum< ::hector_uav_msgs::MotorCommand_ > { + static const char* value() + { + return "ccd4d4d4606731d1c73409e9bfa55808"; + } + + static const char* value(const ::hector_uav_msgs::MotorCommand_ &) { return value(); } + static const uint64_t static_value1 = 0xccd4d4d4606731d1ULL; + static const uint64_t static_value2 = 0xc73409e9bfa55808ULL; +}; + +template +struct DataType< ::hector_uav_msgs::MotorCommand_ > { + static const char* value() + { + return "hector_uav_msgs/MotorCommand"; + } + + static const char* value(const ::hector_uav_msgs::MotorCommand_ &) { return value(); } +}; + +template +struct Definition< ::hector_uav_msgs::MotorCommand_ > { + static const char* value() + { + return "Header header\n\ +float32[] force\n\ +float32[] torque\n\ +float32[] frequency\n\ +float32[] voltage\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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\ +"; + } + + static const char* value(const ::hector_uav_msgs::MotorCommand_ &) { return value(); } +}; + +template struct HasHeader< ::hector_uav_msgs::MotorCommand_ > : public TrueType {}; +template struct HasHeader< const ::hector_uav_msgs::MotorCommand_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::hector_uav_msgs::MotorCommand_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.force); + stream.next(m.torque); + stream.next(m.frequency); + stream.next(m.voltage); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct MotorCommand_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::hector_uav_msgs::MotorCommand_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::hector_uav_msgs::MotorCommand_ & v) + { + s << indent << "header: "; +s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "force[]" << std::endl; + for (size_t i = 0; i < v.force.size(); ++i) + { + s << indent << " force[" << i << "]: "; + Printer::stream(s, indent + " ", v.force[i]); + } + s << indent << "torque[]" << std::endl; + for (size_t i = 0; i < v.torque.size(); ++i) + { + s << indent << " torque[" << i << "]: "; + Printer::stream(s, indent + " ", v.torque[i]); + } + s << indent << "frequency[]" << std::endl; + for (size_t i = 0; i < v.frequency.size(); ++i) + { + s << indent << " frequency[" << i << "]: "; + Printer::stream(s, indent + " ", v.frequency[i]); + } + s << indent << "voltage[]" << std::endl; + for (size_t i = 0; i < v.voltage.size(); ++i) + { + s << indent << " voltage[" << i << "]: "; + Printer::stream(s, indent + " ", v.voltage[i]); + } + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // HECTOR_UAV_MSGS_MESSAGE_MOTORCOMMAND_H + diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/MotorPWM.h b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/MotorPWM.h new file mode 100644 index 0000000..c97d23b --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/MotorPWM.h @@ -0,0 +1,171 @@ +/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-groovy-hector-quadrotor-0.2.3/debian/ros-groovy-hector-quadrotor/opt/ros/groovy/stacks/hector_quadrotor/hector_uav_msgs/msg/MotorPWM.msg */ +#ifndef HECTOR_UAV_MSGS_MESSAGE_MOTORPWM_H +#define HECTOR_UAV_MSGS_MESSAGE_MOTORPWM_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" + +namespace hector_uav_msgs +{ +template +struct MotorPWM_ { + typedef MotorPWM_ Type; + + MotorPWM_() + : header() + , pwm() + { + } + + MotorPWM_(const ContainerAllocator& _alloc) + : header(_alloc) + , pwm(_alloc) + { + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef std::vector::other > _pwm_type; + std::vector::other > pwm; + + + typedef boost::shared_ptr< ::hector_uav_msgs::MotorPWM_ > Ptr; + typedef boost::shared_ptr< ::hector_uav_msgs::MotorPWM_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct MotorPWM +typedef ::hector_uav_msgs::MotorPWM_ > MotorPWM; + +typedef boost::shared_ptr< ::hector_uav_msgs::MotorPWM> MotorPWMPtr; +typedef boost::shared_ptr< ::hector_uav_msgs::MotorPWM const> MotorPWMConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::hector_uav_msgs::MotorPWM_ & v) +{ + ros::message_operations::Printer< ::hector_uav_msgs::MotorPWM_ >::stream(s, "", v); + return s;} + +} // namespace hector_uav_msgs + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::hector_uav_msgs::MotorPWM_ > : public TrueType {}; +template struct IsMessage< ::hector_uav_msgs::MotorPWM_ const> : public TrueType {}; +template +struct MD5Sum< ::hector_uav_msgs::MotorPWM_ > { + static const char* value() + { + return "42f78dd80f99e0208248b8a257b8a645"; + } + + static const char* value(const ::hector_uav_msgs::MotorPWM_ &) { return value(); } + static const uint64_t static_value1 = 0x42f78dd80f99e020ULL; + static const uint64_t static_value2 = 0x8248b8a257b8a645ULL; +}; + +template +struct DataType< ::hector_uav_msgs::MotorPWM_ > { + static const char* value() + { + return "hector_uav_msgs/MotorPWM"; + } + + static const char* value(const ::hector_uav_msgs::MotorPWM_ &) { return value(); } +}; + +template +struct Definition< ::hector_uav_msgs::MotorPWM_ > { + static const char* value() + { + return "Header header\n\ +uint8[] pwm\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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\ +"; + } + + static const char* value(const ::hector_uav_msgs::MotorPWM_ &) { return value(); } +}; + +template struct HasHeader< ::hector_uav_msgs::MotorPWM_ > : public TrueType {}; +template struct HasHeader< const ::hector_uav_msgs::MotorPWM_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::hector_uav_msgs::MotorPWM_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.pwm); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct MotorPWM_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::hector_uav_msgs::MotorPWM_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::hector_uav_msgs::MotorPWM_ & v) + { + s << indent << "header: "; +s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "pwm[]" << std::endl; + for (size_t i = 0; i < v.pwm.size(); ++i) + { + s << indent << " pwm[" << i << "]: "; + Printer::stream(s, indent + " ", v.pwm[i]); + } + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // HECTOR_UAV_MSGS_MESSAGE_MOTORPWM_H + diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/MotorStatus.h b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/MotorStatus.h new file mode 100644 index 0000000..dd22ee2 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/MotorStatus.h @@ -0,0 +1,216 @@ +/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-groovy-hector-quadrotor-0.2.3/debian/ros-groovy-hector-quadrotor/opt/ros/groovy/stacks/hector_quadrotor/hector_uav_msgs/msg/MotorStatus.msg */ +#ifndef HECTOR_UAV_MSGS_MESSAGE_MOTORSTATUS_H +#define HECTOR_UAV_MSGS_MESSAGE_MOTORSTATUS_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" + +namespace hector_uav_msgs +{ +template +struct MotorStatus_ { + typedef MotorStatus_ Type; + + MotorStatus_() + : header() + , on(false) + , running(false) + , voltage() + , frequency() + , current() + { + } + + MotorStatus_(const ContainerAllocator& _alloc) + : header(_alloc) + , on(false) + , running(false) + , voltage(_alloc) + , frequency(_alloc) + , current(_alloc) + { + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef uint8_t _on_type; + uint8_t on; + + typedef uint8_t _running_type; + uint8_t running; + + typedef std::vector::other > _voltage_type; + std::vector::other > voltage; + + typedef std::vector::other > _frequency_type; + std::vector::other > frequency; + + typedef std::vector::other > _current_type; + std::vector::other > current; + + + typedef boost::shared_ptr< ::hector_uav_msgs::MotorStatus_ > Ptr; + typedef boost::shared_ptr< ::hector_uav_msgs::MotorStatus_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct MotorStatus +typedef ::hector_uav_msgs::MotorStatus_ > MotorStatus; + +typedef boost::shared_ptr< ::hector_uav_msgs::MotorStatus> MotorStatusPtr; +typedef boost::shared_ptr< ::hector_uav_msgs::MotorStatus const> MotorStatusConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::hector_uav_msgs::MotorStatus_ & v) +{ + ros::message_operations::Printer< ::hector_uav_msgs::MotorStatus_ >::stream(s, "", v); + return s;} + +} // namespace hector_uav_msgs + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::hector_uav_msgs::MotorStatus_ > : public TrueType {}; +template struct IsMessage< ::hector_uav_msgs::MotorStatus_ const> : public TrueType {}; +template +struct MD5Sum< ::hector_uav_msgs::MotorStatus_ > { + static const char* value() + { + return "d771017cd812838d32da48fbe32b0928"; + } + + static const char* value(const ::hector_uav_msgs::MotorStatus_ &) { return value(); } + static const uint64_t static_value1 = 0xd771017cd812838dULL; + static const uint64_t static_value2 = 0x32da48fbe32b0928ULL; +}; + +template +struct DataType< ::hector_uav_msgs::MotorStatus_ > { + static const char* value() + { + return "hector_uav_msgs/MotorStatus"; + } + + static const char* value(const ::hector_uav_msgs::MotorStatus_ &) { return value(); } +}; + +template +struct Definition< ::hector_uav_msgs::MotorStatus_ > { + static const char* value() + { + return "Header header\n\ +bool on\n\ +bool running\n\ +float32[] voltage\n\ +float32[] frequency\n\ +float32[] current\n\ +\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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\ +"; + } + + static const char* value(const ::hector_uav_msgs::MotorStatus_ &) { return value(); } +}; + +template struct HasHeader< ::hector_uav_msgs::MotorStatus_ > : public TrueType {}; +template struct HasHeader< const ::hector_uav_msgs::MotorStatus_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::hector_uav_msgs::MotorStatus_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.on); + stream.next(m.running); + stream.next(m.voltage); + stream.next(m.frequency); + stream.next(m.current); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct MotorStatus_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::hector_uav_msgs::MotorStatus_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::hector_uav_msgs::MotorStatus_ & v) + { + s << indent << "header: "; +s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "on: "; + Printer::stream(s, indent + " ", v.on); + s << indent << "running: "; + Printer::stream(s, indent + " ", v.running); + s << indent << "voltage[]" << std::endl; + for (size_t i = 0; i < v.voltage.size(); ++i) + { + s << indent << " voltage[" << i << "]: "; + Printer::stream(s, indent + " ", v.voltage[i]); + } + s << indent << "frequency[]" << std::endl; + for (size_t i = 0; i < v.frequency.size(); ++i) + { + s << indent << " frequency[" << i << "]: "; + Printer::stream(s, indent + " ", v.frequency[i]); + } + s << indent << "current[]" << std::endl; + for (size_t i = 0; i < v.current.size(); ++i) + { + s << indent << " current[" << i << "]: "; + Printer::stream(s, indent + " ", v.current[i]); + } + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // HECTOR_UAV_MSGS_MESSAGE_MOTORSTATUS_H + diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/PositionXYCommand.h b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/PositionXYCommand.h new file mode 100644 index 0000000..b65d2c0 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/PositionXYCommand.h @@ -0,0 +1,176 @@ +/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-groovy-hector-quadrotor-0.2.3/debian/ros-groovy-hector-quadrotor/opt/ros/groovy/stacks/hector_quadrotor/hector_uav_msgs/msg/PositionXYCommand.msg */ +#ifndef HECTOR_UAV_MSGS_MESSAGE_POSITIONXYCOMMAND_H +#define HECTOR_UAV_MSGS_MESSAGE_POSITIONXYCOMMAND_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" + +namespace hector_uav_msgs +{ +template +struct PositionXYCommand_ { + typedef PositionXYCommand_ Type; + + PositionXYCommand_() + : header() + , x(0.0) + , y(0.0) + { + } + + PositionXYCommand_(const ContainerAllocator& _alloc) + : header(_alloc) + , x(0.0) + , y(0.0) + { + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef float _x_type; + float x; + + typedef float _y_type; + float y; + + + typedef boost::shared_ptr< ::hector_uav_msgs::PositionXYCommand_ > Ptr; + typedef boost::shared_ptr< ::hector_uav_msgs::PositionXYCommand_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct PositionXYCommand +typedef ::hector_uav_msgs::PositionXYCommand_ > PositionXYCommand; + +typedef boost::shared_ptr< ::hector_uav_msgs::PositionXYCommand> PositionXYCommandPtr; +typedef boost::shared_ptr< ::hector_uav_msgs::PositionXYCommand const> PositionXYCommandConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::hector_uav_msgs::PositionXYCommand_ & v) +{ + ros::message_operations::Printer< ::hector_uav_msgs::PositionXYCommand_ >::stream(s, "", v); + return s;} + +} // namespace hector_uav_msgs + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::hector_uav_msgs::PositionXYCommand_ > : public TrueType {}; +template struct IsMessage< ::hector_uav_msgs::PositionXYCommand_ const> : public TrueType {}; +template +struct MD5Sum< ::hector_uav_msgs::PositionXYCommand_ > { + static const char* value() + { + return "7b4d52af2aa98221d9bb260976d6a201"; + } + + static const char* value(const ::hector_uav_msgs::PositionXYCommand_ &) { return value(); } + static const uint64_t static_value1 = 0x7b4d52af2aa98221ULL; + static const uint64_t static_value2 = 0xd9bb260976d6a201ULL; +}; + +template +struct DataType< ::hector_uav_msgs::PositionXYCommand_ > { + static const char* value() + { + return "hector_uav_msgs/PositionXYCommand"; + } + + static const char* value(const ::hector_uav_msgs::PositionXYCommand_ &) { return value(); } +}; + +template +struct Definition< ::hector_uav_msgs::PositionXYCommand_ > { + static const char* value() + { + return "Header header\n\ +float32 x\n\ +float32 y\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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\ +"; + } + + static const char* value(const ::hector_uav_msgs::PositionXYCommand_ &) { return value(); } +}; + +template struct HasHeader< ::hector_uav_msgs::PositionXYCommand_ > : public TrueType {}; +template struct HasHeader< const ::hector_uav_msgs::PositionXYCommand_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::hector_uav_msgs::PositionXYCommand_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.x); + stream.next(m.y); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct PositionXYCommand_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::hector_uav_msgs::PositionXYCommand_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::hector_uav_msgs::PositionXYCommand_ & v) + { + s << indent << "header: "; +s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "x: "; + Printer::stream(s, indent + " ", v.x); + s << indent << "y: "; + Printer::stream(s, indent + " ", v.y); + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // HECTOR_UAV_MSGS_MESSAGE_POSITIONXYCOMMAND_H + diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/RC.h b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/RC.h new file mode 100644 index 0000000..7e4a3f1 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/RC.h @@ -0,0 +1,246 @@ +/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-groovy-hector-quadrotor-0.2.3/debian/ros-groovy-hector-quadrotor/opt/ros/groovy/stacks/hector_quadrotor/hector_uav_msgs/msg/RC.msg */ +#ifndef HECTOR_UAV_MSGS_MESSAGE_RC_H +#define HECTOR_UAV_MSGS_MESSAGE_RC_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" + +namespace hector_uav_msgs +{ +template +struct RC_ { + typedef RC_ Type; + + RC_() + : header() + , status(0) + , valid(false) + , axis() + , axis_function() + , swit() + , swit_function() + { + } + + RC_(const ContainerAllocator& _alloc) + : header(_alloc) + , status(0) + , valid(false) + , axis(_alloc) + , axis_function(_alloc) + , swit(_alloc) + , swit_function(_alloc) + { + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef uint8_t _status_type; + uint8_t status; + + typedef uint8_t _valid_type; + uint8_t valid; + + typedef std::vector::other > _axis_type; + std::vector::other > axis; + + typedef std::vector::other > _axis_function_type; + std::vector::other > axis_function; + + typedef std::vector::other > _swit_type; + std::vector::other > swit; + + typedef std::vector::other > _swit_function_type; + std::vector::other > swit_function; + + enum { ROLL = 1 }; + enum { PITCH = 2 }; + enum { YAW = 3 }; + enum { STEER = 4 }; + enum { HEIGHT = 5 }; + enum { THRUST = 6 }; + enum { BRAKE = 7 }; + + typedef boost::shared_ptr< ::hector_uav_msgs::RC_ > Ptr; + typedef boost::shared_ptr< ::hector_uav_msgs::RC_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct RC +typedef ::hector_uav_msgs::RC_ > RC; + +typedef boost::shared_ptr< ::hector_uav_msgs::RC> RCPtr; +typedef boost::shared_ptr< ::hector_uav_msgs::RC const> RCConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::hector_uav_msgs::RC_ & v) +{ + ros::message_operations::Printer< ::hector_uav_msgs::RC_ >::stream(s, "", v); + return s;} + +} // namespace hector_uav_msgs + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::hector_uav_msgs::RC_ > : public TrueType {}; +template struct IsMessage< ::hector_uav_msgs::RC_ const> : public TrueType {}; +template +struct MD5Sum< ::hector_uav_msgs::RC_ > { + static const char* value() + { + return "2691c2fe8c5ab2323146bdd8dd2e449e"; + } + + static const char* value(const ::hector_uav_msgs::RC_ &) { return value(); } + static const uint64_t static_value1 = 0x2691c2fe8c5ab232ULL; + static const uint64_t static_value2 = 0x3146bdd8dd2e449eULL; +}; + +template +struct DataType< ::hector_uav_msgs::RC_ > { + static const char* value() + { + return "hector_uav_msgs/RC"; + } + + static const char* value(const ::hector_uav_msgs::RC_ &) { return value(); } +}; + +template +struct Definition< ::hector_uav_msgs::RC_ > { + static const char* value() + { + return "Header header\n\ +\n\ +uint8 ROLL = 1\n\ +uint8 PITCH = 2\n\ +uint8 YAW = 3\n\ +uint8 STEER = 4\n\ +uint8 HEIGHT = 5\n\ +uint8 THRUST = 6\n\ +uint8 BRAKE = 7\n\ +\n\ +uint8 status\n\ +bool valid\n\ +\n\ +float32[] axis\n\ +uint8[] axis_function\n\ +\n\ +int8[] swit\n\ +uint8[] swit_function\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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\ +"; + } + + static const char* value(const ::hector_uav_msgs::RC_ &) { return value(); } +}; + +template struct HasHeader< ::hector_uav_msgs::RC_ > : public TrueType {}; +template struct HasHeader< const ::hector_uav_msgs::RC_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::hector_uav_msgs::RC_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.status); + stream.next(m.valid); + stream.next(m.axis); + stream.next(m.axis_function); + stream.next(m.swit); + stream.next(m.swit_function); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct RC_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::hector_uav_msgs::RC_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::hector_uav_msgs::RC_ & v) + { + s << indent << "header: "; +s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "status: "; + Printer::stream(s, indent + " ", v.status); + s << indent << "valid: "; + Printer::stream(s, indent + " ", v.valid); + s << indent << "axis[]" << std::endl; + for (size_t i = 0; i < v.axis.size(); ++i) + { + s << indent << " axis[" << i << "]: "; + Printer::stream(s, indent + " ", v.axis[i]); + } + s << indent << "axis_function[]" << std::endl; + for (size_t i = 0; i < v.axis_function.size(); ++i) + { + s << indent << " axis_function[" << i << "]: "; + Printer::stream(s, indent + " ", v.axis_function[i]); + } + s << indent << "swit[]" << std::endl; + for (size_t i = 0; i < v.swit.size(); ++i) + { + s << indent << " swit[" << i << "]: "; + Printer::stream(s, indent + " ", v.swit[i]); + } + s << indent << "swit_function[]" << std::endl; + for (size_t i = 0; i < v.swit_function.size(); ++i) + { + s << indent << " swit_function[" << i << "]: "; + Printer::stream(s, indent + " ", v.swit_function[i]); + } + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // HECTOR_UAV_MSGS_MESSAGE_RC_H + diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/RawImu.h b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/RawImu.h new file mode 100644 index 0000000..24d0d82 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/RawImu.h @@ -0,0 +1,188 @@ +/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-groovy-hector-quadrotor-0.2.3/debian/ros-groovy-hector-quadrotor/opt/ros/groovy/stacks/hector_quadrotor/hector_uav_msgs/msg/RawImu.msg */ +#ifndef HECTOR_UAV_MSGS_MESSAGE_RAWIMU_H +#define HECTOR_UAV_MSGS_MESSAGE_RAWIMU_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" + +namespace hector_uav_msgs +{ +template +struct RawImu_ { + typedef RawImu_ Type; + + RawImu_() + : header() + , angular_velocity() + , linear_acceleration() + { + angular_velocity.assign(0); + linear_acceleration.assign(0); + } + + RawImu_(const ContainerAllocator& _alloc) + : header(_alloc) + , angular_velocity() + , linear_acceleration() + { + angular_velocity.assign(0); + linear_acceleration.assign(0); + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef boost::array _angular_velocity_type; + boost::array angular_velocity; + + typedef boost::array _linear_acceleration_type; + boost::array linear_acceleration; + + + typedef boost::shared_ptr< ::hector_uav_msgs::RawImu_ > Ptr; + typedef boost::shared_ptr< ::hector_uav_msgs::RawImu_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct RawImu +typedef ::hector_uav_msgs::RawImu_ > RawImu; + +typedef boost::shared_ptr< ::hector_uav_msgs::RawImu> RawImuPtr; +typedef boost::shared_ptr< ::hector_uav_msgs::RawImu const> RawImuConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::hector_uav_msgs::RawImu_ & v) +{ + ros::message_operations::Printer< ::hector_uav_msgs::RawImu_ >::stream(s, "", v); + return s;} + +} // namespace hector_uav_msgs + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::hector_uav_msgs::RawImu_ > : public TrueType {}; +template struct IsMessage< ::hector_uav_msgs::RawImu_ const> : public TrueType {}; +template +struct MD5Sum< ::hector_uav_msgs::RawImu_ > { + static const char* value() + { + return "0879a838e899792bcf72ccfe7b5595ef"; + } + + static const char* value(const ::hector_uav_msgs::RawImu_ &) { return value(); } + static const uint64_t static_value1 = 0x0879a838e899792bULL; + static const uint64_t static_value2 = 0xcf72ccfe7b5595efULL; +}; + +template +struct DataType< ::hector_uav_msgs::RawImu_ > { + static const char* value() + { + return "hector_uav_msgs/RawImu"; + } + + static const char* value(const ::hector_uav_msgs::RawImu_ &) { return value(); } +}; + +template +struct Definition< ::hector_uav_msgs::RawImu_ > { + static const char* value() + { + return "Header header\n\ +uint16[3] angular_velocity\n\ +uint16[3] linear_acceleration\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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\ +"; + } + + static const char* value(const ::hector_uav_msgs::RawImu_ &) { return value(); } +}; + +template struct HasHeader< ::hector_uav_msgs::RawImu_ > : public TrueType {}; +template struct HasHeader< const ::hector_uav_msgs::RawImu_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::hector_uav_msgs::RawImu_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.angular_velocity); + stream.next(m.linear_acceleration); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct RawImu_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::hector_uav_msgs::RawImu_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::hector_uav_msgs::RawImu_ & v) + { + s << indent << "header: "; +s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "angular_velocity[]" << std::endl; + for (size_t i = 0; i < v.angular_velocity.size(); ++i) + { + s << indent << " angular_velocity[" << i << "]: "; + Printer::stream(s, indent + " ", v.angular_velocity[i]); + } + s << indent << "linear_acceleration[]" << std::endl; + for (size_t i = 0; i < v.linear_acceleration.size(); ++i) + { + s << indent << " linear_acceleration[" << i << "]: "; + Printer::stream(s, indent + " ", v.linear_acceleration[i]); + } + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // HECTOR_UAV_MSGS_MESSAGE_RAWIMU_H + diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/RawMagnetic.h b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/RawMagnetic.h new file mode 100644 index 0000000..b86730f --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/RawMagnetic.h @@ -0,0 +1,173 @@ +/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-groovy-hector-quadrotor-0.2.3/debian/ros-groovy-hector-quadrotor/opt/ros/groovy/stacks/hector_quadrotor/hector_uav_msgs/msg/RawMagnetic.msg */ +#ifndef HECTOR_UAV_MSGS_MESSAGE_RAWMAGNETIC_H +#define HECTOR_UAV_MSGS_MESSAGE_RAWMAGNETIC_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" + +namespace hector_uav_msgs +{ +template +struct RawMagnetic_ { + typedef RawMagnetic_ Type; + + RawMagnetic_() + : header() + , channel() + { + channel.assign(0.0); + } + + RawMagnetic_(const ContainerAllocator& _alloc) + : header(_alloc) + , channel() + { + channel.assign(0.0); + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef boost::array _channel_type; + boost::array channel; + + + typedef boost::shared_ptr< ::hector_uav_msgs::RawMagnetic_ > Ptr; + typedef boost::shared_ptr< ::hector_uav_msgs::RawMagnetic_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct RawMagnetic +typedef ::hector_uav_msgs::RawMagnetic_ > RawMagnetic; + +typedef boost::shared_ptr< ::hector_uav_msgs::RawMagnetic> RawMagneticPtr; +typedef boost::shared_ptr< ::hector_uav_msgs::RawMagnetic const> RawMagneticConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::hector_uav_msgs::RawMagnetic_ & v) +{ + ros::message_operations::Printer< ::hector_uav_msgs::RawMagnetic_ >::stream(s, "", v); + return s;} + +} // namespace hector_uav_msgs + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::hector_uav_msgs::RawMagnetic_ > : public TrueType {}; +template struct IsMessage< ::hector_uav_msgs::RawMagnetic_ const> : public TrueType {}; +template +struct MD5Sum< ::hector_uav_msgs::RawMagnetic_ > { + static const char* value() + { + return "babd510868ac7b486e2097c79e1384c9"; + } + + static const char* value(const ::hector_uav_msgs::RawMagnetic_ &) { return value(); } + static const uint64_t static_value1 = 0xbabd510868ac7b48ULL; + static const uint64_t static_value2 = 0x6e2097c79e1384c9ULL; +}; + +template +struct DataType< ::hector_uav_msgs::RawMagnetic_ > { + static const char* value() + { + return "hector_uav_msgs/RawMagnetic"; + } + + static const char* value(const ::hector_uav_msgs::RawMagnetic_ &) { return value(); } +}; + +template +struct Definition< ::hector_uav_msgs::RawMagnetic_ > { + static const char* value() + { + return "Header header\n\ +float64[3] channel\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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\ +"; + } + + static const char* value(const ::hector_uav_msgs::RawMagnetic_ &) { return value(); } +}; + +template struct HasHeader< ::hector_uav_msgs::RawMagnetic_ > : public TrueType {}; +template struct HasHeader< const ::hector_uav_msgs::RawMagnetic_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::hector_uav_msgs::RawMagnetic_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.channel); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct RawMagnetic_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::hector_uav_msgs::RawMagnetic_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::hector_uav_msgs::RawMagnetic_ & v) + { + s << indent << "header: "; +s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "channel[]" << std::endl; + for (size_t i = 0; i < v.channel.size(); ++i) + { + s << indent << " channel[" << i << "]: "; + Printer::stream(s, indent + " ", v.channel[i]); + } + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // HECTOR_UAV_MSGS_MESSAGE_RAWMAGNETIC_H + diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/RawRC.h b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/RawRC.h new file mode 100644 index 0000000..2a07430 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/RawRC.h @@ -0,0 +1,180 @@ +/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-groovy-hector-quadrotor-0.2.3/debian/ros-groovy-hector-quadrotor/opt/ros/groovy/stacks/hector_quadrotor/hector_uav_msgs/msg/RawRC.msg */ +#ifndef HECTOR_UAV_MSGS_MESSAGE_RAWRC_H +#define HECTOR_UAV_MSGS_MESSAGE_RAWRC_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" + +namespace hector_uav_msgs +{ +template +struct RawRC_ { + typedef RawRC_ Type; + + RawRC_() + : header() + , status(0) + , channel() + { + } + + RawRC_(const ContainerAllocator& _alloc) + : header(_alloc) + , status(0) + , channel(_alloc) + { + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef uint8_t _status_type; + uint8_t status; + + typedef std::vector::other > _channel_type; + std::vector::other > channel; + + + typedef boost::shared_ptr< ::hector_uav_msgs::RawRC_ > Ptr; + typedef boost::shared_ptr< ::hector_uav_msgs::RawRC_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct RawRC +typedef ::hector_uav_msgs::RawRC_ > RawRC; + +typedef boost::shared_ptr< ::hector_uav_msgs::RawRC> RawRCPtr; +typedef boost::shared_ptr< ::hector_uav_msgs::RawRC const> RawRCConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::hector_uav_msgs::RawRC_ & v) +{ + ros::message_operations::Printer< ::hector_uav_msgs::RawRC_ >::stream(s, "", v); + return s;} + +} // namespace hector_uav_msgs + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::hector_uav_msgs::RawRC_ > : public TrueType {}; +template struct IsMessage< ::hector_uav_msgs::RawRC_ const> : public TrueType {}; +template +struct MD5Sum< ::hector_uav_msgs::RawRC_ > { + static const char* value() + { + return "f1584488325f747abea0b77036f70e2c"; + } + + static const char* value(const ::hector_uav_msgs::RawRC_ &) { return value(); } + static const uint64_t static_value1 = 0xf1584488325f747aULL; + static const uint64_t static_value2 = 0xbea0b77036f70e2cULL; +}; + +template +struct DataType< ::hector_uav_msgs::RawRC_ > { + static const char* value() + { + return "hector_uav_msgs/RawRC"; + } + + static const char* value(const ::hector_uav_msgs::RawRC_ &) { return value(); } +}; + +template +struct Definition< ::hector_uav_msgs::RawRC_ > { + static const char* value() + { + return "Header header\n\ +uint8 status\n\ +uint16[] channel\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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\ +"; + } + + static const char* value(const ::hector_uav_msgs::RawRC_ &) { return value(); } +}; + +template struct HasHeader< ::hector_uav_msgs::RawRC_ > : public TrueType {}; +template struct HasHeader< const ::hector_uav_msgs::RawRC_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::hector_uav_msgs::RawRC_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.status); + stream.next(m.channel); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct RawRC_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::hector_uav_msgs::RawRC_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::hector_uav_msgs::RawRC_ & v) + { + s << indent << "header: "; +s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "status: "; + Printer::stream(s, indent + " ", v.status); + s << indent << "channel[]" << std::endl; + for (size_t i = 0; i < v.channel.size(); ++i) + { + s << indent << " channel[" << i << "]: "; + Printer::stream(s, indent + " ", v.channel[i]); + } + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // HECTOR_UAV_MSGS_MESSAGE_RAWRC_H + diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/RuddersCommand.h b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/RuddersCommand.h new file mode 100644 index 0000000..a23bbe3 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/RuddersCommand.h @@ -0,0 +1,185 @@ +/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-groovy-hector-quadrotor-0.2.3/debian/ros-groovy-hector-quadrotor/opt/ros/groovy/stacks/hector_quadrotor/hector_uav_msgs/msg/RuddersCommand.msg */ +#ifndef HECTOR_UAV_MSGS_MESSAGE_RUDDERSCOMMAND_H +#define HECTOR_UAV_MSGS_MESSAGE_RUDDERSCOMMAND_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" + +namespace hector_uav_msgs +{ +template +struct RuddersCommand_ { + typedef RuddersCommand_ Type; + + RuddersCommand_() + : header() + , aileron(0.0) + , elevator(0.0) + , rudder(0.0) + { + } + + RuddersCommand_(const ContainerAllocator& _alloc) + : header(_alloc) + , aileron(0.0) + , elevator(0.0) + , rudder(0.0) + { + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef float _aileron_type; + float aileron; + + typedef float _elevator_type; + float elevator; + + typedef float _rudder_type; + float rudder; + + + typedef boost::shared_ptr< ::hector_uav_msgs::RuddersCommand_ > Ptr; + typedef boost::shared_ptr< ::hector_uav_msgs::RuddersCommand_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct RuddersCommand +typedef ::hector_uav_msgs::RuddersCommand_ > RuddersCommand; + +typedef boost::shared_ptr< ::hector_uav_msgs::RuddersCommand> RuddersCommandPtr; +typedef boost::shared_ptr< ::hector_uav_msgs::RuddersCommand const> RuddersCommandConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::hector_uav_msgs::RuddersCommand_ & v) +{ + ros::message_operations::Printer< ::hector_uav_msgs::RuddersCommand_ >::stream(s, "", v); + return s;} + +} // namespace hector_uav_msgs + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::hector_uav_msgs::RuddersCommand_ > : public TrueType {}; +template struct IsMessage< ::hector_uav_msgs::RuddersCommand_ const> : public TrueType {}; +template +struct MD5Sum< ::hector_uav_msgs::RuddersCommand_ > { + static const char* value() + { + return "2e136cb8cfffc2233e404b320c27bca6"; + } + + static const char* value(const ::hector_uav_msgs::RuddersCommand_ &) { return value(); } + static const uint64_t static_value1 = 0x2e136cb8cfffc223ULL; + static const uint64_t static_value2 = 0x3e404b320c27bca6ULL; +}; + +template +struct DataType< ::hector_uav_msgs::RuddersCommand_ > { + static const char* value() + { + return "hector_uav_msgs/RuddersCommand"; + } + + static const char* value(const ::hector_uav_msgs::RuddersCommand_ &) { return value(); } +}; + +template +struct Definition< ::hector_uav_msgs::RuddersCommand_ > { + static const char* value() + { + return "Header header\n\ +float32 aileron\n\ +float32 elevator\n\ +float32 rudder\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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\ +"; + } + + static const char* value(const ::hector_uav_msgs::RuddersCommand_ &) { return value(); } +}; + +template struct HasHeader< ::hector_uav_msgs::RuddersCommand_ > : public TrueType {}; +template struct HasHeader< const ::hector_uav_msgs::RuddersCommand_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::hector_uav_msgs::RuddersCommand_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.aileron); + stream.next(m.elevator); + stream.next(m.rudder); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct RuddersCommand_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::hector_uav_msgs::RuddersCommand_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::hector_uav_msgs::RuddersCommand_ & v) + { + s << indent << "header: "; +s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "aileron: "; + Printer::stream(s, indent + " ", v.aileron); + s << indent << "elevator: "; + Printer::stream(s, indent + " ", v.elevator); + s << indent << "rudder: "; + Printer::stream(s, indent + " ", v.rudder); + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // HECTOR_UAV_MSGS_MESSAGE_RUDDERSCOMMAND_H + diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/ServoCommand.h b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/ServoCommand.h new file mode 100644 index 0000000..e3961b3 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/ServoCommand.h @@ -0,0 +1,171 @@ +/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-groovy-hector-quadrotor-0.2.3/debian/ros-groovy-hector-quadrotor/opt/ros/groovy/stacks/hector_quadrotor/hector_uav_msgs/msg/ServoCommand.msg */ +#ifndef HECTOR_UAV_MSGS_MESSAGE_SERVOCOMMAND_H +#define HECTOR_UAV_MSGS_MESSAGE_SERVOCOMMAND_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" + +namespace hector_uav_msgs +{ +template +struct ServoCommand_ { + typedef ServoCommand_ Type; + + ServoCommand_() + : header() + , value() + { + } + + ServoCommand_(const ContainerAllocator& _alloc) + : header(_alloc) + , value(_alloc) + { + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef std::vector::other > _value_type; + std::vector::other > value; + + + typedef boost::shared_ptr< ::hector_uav_msgs::ServoCommand_ > Ptr; + typedef boost::shared_ptr< ::hector_uav_msgs::ServoCommand_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct ServoCommand +typedef ::hector_uav_msgs::ServoCommand_ > ServoCommand; + +typedef boost::shared_ptr< ::hector_uav_msgs::ServoCommand> ServoCommandPtr; +typedef boost::shared_ptr< ::hector_uav_msgs::ServoCommand const> ServoCommandConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::hector_uav_msgs::ServoCommand_ & v) +{ + ros::message_operations::Printer< ::hector_uav_msgs::ServoCommand_ >::stream(s, "", v); + return s;} + +} // namespace hector_uav_msgs + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::hector_uav_msgs::ServoCommand_ > : public TrueType {}; +template struct IsMessage< ::hector_uav_msgs::ServoCommand_ const> : public TrueType {}; +template +struct MD5Sum< ::hector_uav_msgs::ServoCommand_ > { + static const char* value() + { + return "d60ef35d4e3412dc6686b189be2523d0"; + } + + static const char* value(const ::hector_uav_msgs::ServoCommand_ &) { return value(); } + static const uint64_t static_value1 = 0xd60ef35d4e3412dcULL; + static const uint64_t static_value2 = 0x6686b189be2523d0ULL; +}; + +template +struct DataType< ::hector_uav_msgs::ServoCommand_ > { + static const char* value() + { + return "hector_uav_msgs/ServoCommand"; + } + + static const char* value(const ::hector_uav_msgs::ServoCommand_ &) { return value(); } +}; + +template +struct Definition< ::hector_uav_msgs::ServoCommand_ > { + static const char* value() + { + return "Header header\n\ +uint16[] value\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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\ +"; + } + + static const char* value(const ::hector_uav_msgs::ServoCommand_ &) { return value(); } +}; + +template struct HasHeader< ::hector_uav_msgs::ServoCommand_ > : public TrueType {}; +template struct HasHeader< const ::hector_uav_msgs::ServoCommand_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::hector_uav_msgs::ServoCommand_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.value); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct ServoCommand_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::hector_uav_msgs::ServoCommand_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::hector_uav_msgs::ServoCommand_ & v) + { + s << indent << "header: "; +s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "value[]" << std::endl; + for (size_t i = 0; i < v.value.size(); ++i) + { + s << indent << " value[" << i << "]: "; + Printer::stream(s, indent + " ", v.value[i]); + } + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // HECTOR_UAV_MSGS_MESSAGE_SERVOCOMMAND_H + diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/Supply.h b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/Supply.h new file mode 100644 index 0000000..9007355 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/Supply.h @@ -0,0 +1,184 @@ +/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-groovy-hector-quadrotor-0.2.3/debian/ros-groovy-hector-quadrotor/opt/ros/groovy/stacks/hector_quadrotor/hector_uav_msgs/msg/Supply.msg */ +#ifndef HECTOR_UAV_MSGS_MESSAGE_SUPPLY_H +#define HECTOR_UAV_MSGS_MESSAGE_SUPPLY_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" + +namespace hector_uav_msgs +{ +template +struct Supply_ { + typedef Supply_ Type; + + Supply_() + : header() + , voltage() + , current() + { + } + + Supply_(const ContainerAllocator& _alloc) + : header(_alloc) + , voltage(_alloc) + , current(_alloc) + { + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef std::vector::other > _voltage_type; + std::vector::other > voltage; + + typedef std::vector::other > _current_type; + std::vector::other > current; + + + typedef boost::shared_ptr< ::hector_uav_msgs::Supply_ > Ptr; + typedef boost::shared_ptr< ::hector_uav_msgs::Supply_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct Supply +typedef ::hector_uav_msgs::Supply_ > Supply; + +typedef boost::shared_ptr< ::hector_uav_msgs::Supply> SupplyPtr; +typedef boost::shared_ptr< ::hector_uav_msgs::Supply const> SupplyConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::hector_uav_msgs::Supply_ & v) +{ + ros::message_operations::Printer< ::hector_uav_msgs::Supply_ >::stream(s, "", v); + return s;} + +} // namespace hector_uav_msgs + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::hector_uav_msgs::Supply_ > : public TrueType {}; +template struct IsMessage< ::hector_uav_msgs::Supply_ const> : public TrueType {}; +template +struct MD5Sum< ::hector_uav_msgs::Supply_ > { + static const char* value() + { + return "26f5225a2b836fba706a87e45759fdfc"; + } + + static const char* value(const ::hector_uav_msgs::Supply_ &) { return value(); } + static const uint64_t static_value1 = 0x26f5225a2b836fbaULL; + static const uint64_t static_value2 = 0x706a87e45759fdfcULL; +}; + +template +struct DataType< ::hector_uav_msgs::Supply_ > { + static const char* value() + { + return "hector_uav_msgs/Supply"; + } + + static const char* value(const ::hector_uav_msgs::Supply_ &) { return value(); } +}; + +template +struct Definition< ::hector_uav_msgs::Supply_ > { + static const char* value() + { + return "Header header\n\ +float32[] voltage\n\ +float32[] current\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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\ +"; + } + + static const char* value(const ::hector_uav_msgs::Supply_ &) { return value(); } +}; + +template struct HasHeader< ::hector_uav_msgs::Supply_ > : public TrueType {}; +template struct HasHeader< const ::hector_uav_msgs::Supply_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::hector_uav_msgs::Supply_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.voltage); + stream.next(m.current); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct Supply_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::hector_uav_msgs::Supply_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::hector_uav_msgs::Supply_ & v) + { + s << indent << "header: "; +s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "voltage[]" << std::endl; + for (size_t i = 0; i < v.voltage.size(); ++i) + { + s << indent << " voltage[" << i << "]: "; + Printer::stream(s, indent + " ", v.voltage[i]); + } + s << indent << "current[]" << std::endl; + for (size_t i = 0; i < v.current.size(); ++i) + { + s << indent << " current[" << i << "]: "; + Printer::stream(s, indent + " ", v.current[i]); + } + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // HECTOR_UAV_MSGS_MESSAGE_SUPPLY_H + diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/ThrustCommand.h b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/ThrustCommand.h new file mode 100644 index 0000000..dc77587 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/ThrustCommand.h @@ -0,0 +1,167 @@ +/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-groovy-hector-quadrotor-0.2.3/debian/ros-groovy-hector-quadrotor/opt/ros/groovy/stacks/hector_quadrotor/hector_uav_msgs/msg/ThrustCommand.msg */ +#ifndef HECTOR_UAV_MSGS_MESSAGE_THRUSTCOMMAND_H +#define HECTOR_UAV_MSGS_MESSAGE_THRUSTCOMMAND_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" + +namespace hector_uav_msgs +{ +template +struct ThrustCommand_ { + typedef ThrustCommand_ Type; + + ThrustCommand_() + : header() + , thrust(0.0) + { + } + + ThrustCommand_(const ContainerAllocator& _alloc) + : header(_alloc) + , thrust(0.0) + { + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef float _thrust_type; + float thrust; + + + typedef boost::shared_ptr< ::hector_uav_msgs::ThrustCommand_ > Ptr; + typedef boost::shared_ptr< ::hector_uav_msgs::ThrustCommand_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct ThrustCommand +typedef ::hector_uav_msgs::ThrustCommand_ > ThrustCommand; + +typedef boost::shared_ptr< ::hector_uav_msgs::ThrustCommand> ThrustCommandPtr; +typedef boost::shared_ptr< ::hector_uav_msgs::ThrustCommand const> ThrustCommandConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::hector_uav_msgs::ThrustCommand_ & v) +{ + ros::message_operations::Printer< ::hector_uav_msgs::ThrustCommand_ >::stream(s, "", v); + return s;} + +} // namespace hector_uav_msgs + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::hector_uav_msgs::ThrustCommand_ > : public TrueType {}; +template struct IsMessage< ::hector_uav_msgs::ThrustCommand_ const> : public TrueType {}; +template +struct MD5Sum< ::hector_uav_msgs::ThrustCommand_ > { + static const char* value() + { + return "c61da3a8868a8b502eaf0b0abd839f57"; + } + + static const char* value(const ::hector_uav_msgs::ThrustCommand_ &) { return value(); } + static const uint64_t static_value1 = 0xc61da3a8868a8b50ULL; + static const uint64_t static_value2 = 0x2eaf0b0abd839f57ULL; +}; + +template +struct DataType< ::hector_uav_msgs::ThrustCommand_ > { + static const char* value() + { + return "hector_uav_msgs/ThrustCommand"; + } + + static const char* value(const ::hector_uav_msgs::ThrustCommand_ &) { return value(); } +}; + +template +struct Definition< ::hector_uav_msgs::ThrustCommand_ > { + static const char* value() + { + return "Header header\n\ +float32 thrust\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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\ +"; + } + + static const char* value(const ::hector_uav_msgs::ThrustCommand_ &) { return value(); } +}; + +template struct HasHeader< ::hector_uav_msgs::ThrustCommand_ > : public TrueType {}; +template struct HasHeader< const ::hector_uav_msgs::ThrustCommand_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::hector_uav_msgs::ThrustCommand_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.thrust); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct ThrustCommand_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::hector_uav_msgs::ThrustCommand_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::hector_uav_msgs::ThrustCommand_ & v) + { + s << indent << "header: "; +s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "thrust: "; + Printer::stream(s, indent + " ", v.thrust); + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // HECTOR_UAV_MSGS_MESSAGE_THRUSTCOMMAND_H + diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/VelocityXYCommand.h b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/VelocityXYCommand.h new file mode 100644 index 0000000..e184e7a --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/VelocityXYCommand.h @@ -0,0 +1,176 @@ +/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-groovy-hector-quadrotor-0.2.3/debian/ros-groovy-hector-quadrotor/opt/ros/groovy/stacks/hector_quadrotor/hector_uav_msgs/msg/VelocityXYCommand.msg */ +#ifndef HECTOR_UAV_MSGS_MESSAGE_VELOCITYXYCOMMAND_H +#define HECTOR_UAV_MSGS_MESSAGE_VELOCITYXYCOMMAND_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" + +namespace hector_uav_msgs +{ +template +struct VelocityXYCommand_ { + typedef VelocityXYCommand_ Type; + + VelocityXYCommand_() + : header() + , x(0.0) + , y(0.0) + { + } + + VelocityXYCommand_(const ContainerAllocator& _alloc) + : header(_alloc) + , x(0.0) + , y(0.0) + { + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef float _x_type; + float x; + + typedef float _y_type; + float y; + + + typedef boost::shared_ptr< ::hector_uav_msgs::VelocityXYCommand_ > Ptr; + typedef boost::shared_ptr< ::hector_uav_msgs::VelocityXYCommand_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct VelocityXYCommand +typedef ::hector_uav_msgs::VelocityXYCommand_ > VelocityXYCommand; + +typedef boost::shared_ptr< ::hector_uav_msgs::VelocityXYCommand> VelocityXYCommandPtr; +typedef boost::shared_ptr< ::hector_uav_msgs::VelocityXYCommand const> VelocityXYCommandConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::hector_uav_msgs::VelocityXYCommand_ & v) +{ + ros::message_operations::Printer< ::hector_uav_msgs::VelocityXYCommand_ >::stream(s, "", v); + return s;} + +} // namespace hector_uav_msgs + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::hector_uav_msgs::VelocityXYCommand_ > : public TrueType {}; +template struct IsMessage< ::hector_uav_msgs::VelocityXYCommand_ const> : public TrueType {}; +template +struct MD5Sum< ::hector_uav_msgs::VelocityXYCommand_ > { + static const char* value() + { + return "7b4d52af2aa98221d9bb260976d6a201"; + } + + static const char* value(const ::hector_uav_msgs::VelocityXYCommand_ &) { return value(); } + static const uint64_t static_value1 = 0x7b4d52af2aa98221ULL; + static const uint64_t static_value2 = 0xd9bb260976d6a201ULL; +}; + +template +struct DataType< ::hector_uav_msgs::VelocityXYCommand_ > { + static const char* value() + { + return "hector_uav_msgs/VelocityXYCommand"; + } + + static const char* value(const ::hector_uav_msgs::VelocityXYCommand_ &) { return value(); } +}; + +template +struct Definition< ::hector_uav_msgs::VelocityXYCommand_ > { + static const char* value() + { + return "Header header\n\ +float32 x\n\ +float32 y\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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\ +"; + } + + static const char* value(const ::hector_uav_msgs::VelocityXYCommand_ &) { return value(); } +}; + +template struct HasHeader< ::hector_uav_msgs::VelocityXYCommand_ > : public TrueType {}; +template struct HasHeader< const ::hector_uav_msgs::VelocityXYCommand_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::hector_uav_msgs::VelocityXYCommand_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.x); + stream.next(m.y); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct VelocityXYCommand_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::hector_uav_msgs::VelocityXYCommand_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::hector_uav_msgs::VelocityXYCommand_ & v) + { + s << indent << "header: "; +s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "x: "; + Printer::stream(s, indent + " ", v.x); + s << indent << "y: "; + Printer::stream(s, indent + " ", v.y); + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // HECTOR_UAV_MSGS_MESSAGE_VELOCITYXYCOMMAND_H + diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/VelocityZCommand.h b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/VelocityZCommand.h new file mode 100644 index 0000000..57f550e --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/VelocityZCommand.h @@ -0,0 +1,167 @@ +/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-groovy-hector-quadrotor-0.2.3/debian/ros-groovy-hector-quadrotor/opt/ros/groovy/stacks/hector_quadrotor/hector_uav_msgs/msg/VelocityZCommand.msg */ +#ifndef HECTOR_UAV_MSGS_MESSAGE_VELOCITYZCOMMAND_H +#define HECTOR_UAV_MSGS_MESSAGE_VELOCITYZCOMMAND_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" + +namespace hector_uav_msgs +{ +template +struct VelocityZCommand_ { + typedef VelocityZCommand_ Type; + + VelocityZCommand_() + : header() + , z(0.0) + { + } + + VelocityZCommand_(const ContainerAllocator& _alloc) + : header(_alloc) + , z(0.0) + { + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef float _z_type; + float z; + + + typedef boost::shared_ptr< ::hector_uav_msgs::VelocityZCommand_ > Ptr; + typedef boost::shared_ptr< ::hector_uav_msgs::VelocityZCommand_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct VelocityZCommand +typedef ::hector_uav_msgs::VelocityZCommand_ > VelocityZCommand; + +typedef boost::shared_ptr< ::hector_uav_msgs::VelocityZCommand> VelocityZCommandPtr; +typedef boost::shared_ptr< ::hector_uav_msgs::VelocityZCommand const> VelocityZCommandConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::hector_uav_msgs::VelocityZCommand_ & v) +{ + ros::message_operations::Printer< ::hector_uav_msgs::VelocityZCommand_ >::stream(s, "", v); + return s;} + +} // namespace hector_uav_msgs + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::hector_uav_msgs::VelocityZCommand_ > : public TrueType {}; +template struct IsMessage< ::hector_uav_msgs::VelocityZCommand_ const> : public TrueType {}; +template +struct MD5Sum< ::hector_uav_msgs::VelocityZCommand_ > { + static const char* value() + { + return "68efb57c1ccbb065338578afbfc54ec5"; + } + + static const char* value(const ::hector_uav_msgs::VelocityZCommand_ &) { return value(); } + static const uint64_t static_value1 = 0x68efb57c1ccbb065ULL; + static const uint64_t static_value2 = 0x338578afbfc54ec5ULL; +}; + +template +struct DataType< ::hector_uav_msgs::VelocityZCommand_ > { + static const char* value() + { + return "hector_uav_msgs/VelocityZCommand"; + } + + static const char* value(const ::hector_uav_msgs::VelocityZCommand_ &) { return value(); } +}; + +template +struct Definition< ::hector_uav_msgs::VelocityZCommand_ > { + static const char* value() + { + return "Header header\n\ +float32 z\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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\ +"; + } + + static const char* value(const ::hector_uav_msgs::VelocityZCommand_ &) { return value(); } +}; + +template struct HasHeader< ::hector_uav_msgs::VelocityZCommand_ > : public TrueType {}; +template struct HasHeader< const ::hector_uav_msgs::VelocityZCommand_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::hector_uav_msgs::VelocityZCommand_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.z); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct VelocityZCommand_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::hector_uav_msgs::VelocityZCommand_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::hector_uav_msgs::VelocityZCommand_ & v) + { + s << indent << "header: "; +s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "z: "; + Printer::stream(s, indent + " ", v.z); + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // HECTOR_UAV_MSGS_MESSAGE_VELOCITYZCOMMAND_H + diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/YawrateCommand.h b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/YawrateCommand.h new file mode 100644 index 0000000..911eef0 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/cpp/include/hector_uav_msgs/YawrateCommand.h @@ -0,0 +1,167 @@ +/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-groovy-hector-quadrotor-0.2.3/debian/ros-groovy-hector-quadrotor/opt/ros/groovy/stacks/hector_quadrotor/hector_uav_msgs/msg/YawrateCommand.msg */ +#ifndef HECTOR_UAV_MSGS_MESSAGE_YAWRATECOMMAND_H +#define HECTOR_UAV_MSGS_MESSAGE_YAWRATECOMMAND_H +#include +#include +#include +#include +#include "ros/serialization.h" +#include "ros/builtin_message_traits.h" +#include "ros/message_operations.h" +#include "ros/time.h" + +#include "ros/macros.h" + +#include "ros/assert.h" + +#include "std_msgs/Header.h" + +namespace hector_uav_msgs +{ +template +struct YawrateCommand_ { + typedef YawrateCommand_ Type; + + YawrateCommand_() + : header() + , turnrate(0.0) + { + } + + YawrateCommand_(const ContainerAllocator& _alloc) + : header(_alloc) + , turnrate(0.0) + { + } + + typedef ::std_msgs::Header_ _header_type; + ::std_msgs::Header_ header; + + typedef float _turnrate_type; + float turnrate; + + + typedef boost::shared_ptr< ::hector_uav_msgs::YawrateCommand_ > Ptr; + typedef boost::shared_ptr< ::hector_uav_msgs::YawrateCommand_ const> ConstPtr; + boost::shared_ptr > __connection_header; +}; // struct YawrateCommand +typedef ::hector_uav_msgs::YawrateCommand_ > YawrateCommand; + +typedef boost::shared_ptr< ::hector_uav_msgs::YawrateCommand> YawrateCommandPtr; +typedef boost::shared_ptr< ::hector_uav_msgs::YawrateCommand const> YawrateCommandConstPtr; + + +template +std::ostream& operator<<(std::ostream& s, const ::hector_uav_msgs::YawrateCommand_ & v) +{ + ros::message_operations::Printer< ::hector_uav_msgs::YawrateCommand_ >::stream(s, "", v); + return s;} + +} // namespace hector_uav_msgs + +namespace ros +{ +namespace message_traits +{ +template struct IsMessage< ::hector_uav_msgs::YawrateCommand_ > : public TrueType {}; +template struct IsMessage< ::hector_uav_msgs::YawrateCommand_ const> : public TrueType {}; +template +struct MD5Sum< ::hector_uav_msgs::YawrateCommand_ > { + static const char* value() + { + return "d8d2a0a1e3daa0fc410bf30a154fa6b6"; + } + + static const char* value(const ::hector_uav_msgs::YawrateCommand_ &) { return value(); } + static const uint64_t static_value1 = 0xd8d2a0a1e3daa0fcULL; + static const uint64_t static_value2 = 0x410bf30a154fa6b6ULL; +}; + +template +struct DataType< ::hector_uav_msgs::YawrateCommand_ > { + static const char* value() + { + return "hector_uav_msgs/YawrateCommand"; + } + + static const char* value(const ::hector_uav_msgs::YawrateCommand_ &) { return value(); } +}; + +template +struct Definition< ::hector_uav_msgs::YawrateCommand_ > { + static const char* value() + { + return "Header header\n\ +float32 turnrate\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.secs: seconds (stamp_secs) since epoch\n\ +# * stamp.nsecs: nanoseconds since stamp_secs\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\ +"; + } + + static const char* value(const ::hector_uav_msgs::YawrateCommand_ &) { return value(); } +}; + +template struct HasHeader< ::hector_uav_msgs::YawrateCommand_ > : public TrueType {}; +template struct HasHeader< const ::hector_uav_msgs::YawrateCommand_ > : public TrueType {}; +} // namespace message_traits +} // namespace ros + +namespace ros +{ +namespace serialization +{ + +template struct Serializer< ::hector_uav_msgs::YawrateCommand_ > +{ + template inline static void allInOne(Stream& stream, T m) + { + stream.next(m.header); + stream.next(m.turnrate); + } + + ROS_DECLARE_ALLINONE_SERIALIZER; +}; // struct YawrateCommand_ +} // namespace serialization +} // namespace ros + +namespace ros +{ +namespace message_operations +{ + +template +struct Printer< ::hector_uav_msgs::YawrateCommand_ > +{ + template static void stream(Stream& s, const std::string& indent, const ::hector_uav_msgs::YawrateCommand_ & v) + { + s << indent << "header: "; +s << std::endl; + Printer< ::std_msgs::Header_ >::stream(s, indent + " ", v.header); + s << indent << "turnrate: "; + Printer::stream(s, indent + " ", v.turnrate); + } +}; + + +} // namespace message_operations +} // namespace ros + +#endif // HECTOR_UAV_MSGS_MESSAGE_YAWRATECOMMAND_H + diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/generated b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/generated new file mode 100644 index 0000000..396a0ba --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/generated @@ -0,0 +1 @@ +yes \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/Altimeter.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/Altimeter.lisp new file mode 100644 index 0000000..16f4f7d --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/Altimeter.lisp @@ -0,0 +1,133 @@ +; Auto-generated. Do not edit! + + +(cl:in-package hector_uav_msgs-msg) + + +;//! \htmlinclude Altimeter.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)) + (altitude + :reader altitude + :initarg :altitude + :type cl:float + :initform 0.0) + (pressure + :reader pressure + :initarg :pressure + :type cl:float + :initform 0.0) + (qnh + :reader qnh + :initarg :qnh + :type cl:float + :initform 0.0)) +) + +(cl:defclass Altimeter () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'Altimeter) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name hector_uav_msgs-msg: is deprecated: use hector_uav_msgs-msg:Altimeter 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 hector_uav_msgs-msg:header-val is deprecated. Use hector_uav_msgs-msg:header instead.") + (header m)) + +(cl:ensure-generic-function 'altitude-val :lambda-list '(m)) +(cl:defmethod altitude-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:altitude-val is deprecated. Use hector_uav_msgs-msg:altitude instead.") + (altitude m)) + +(cl:ensure-generic-function 'pressure-val :lambda-list '(m)) +(cl:defmethod pressure-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:pressure-val is deprecated. Use hector_uav_msgs-msg:pressure instead.") + (pressure m)) + +(cl:ensure-generic-function 'qnh-val :lambda-list '(m)) +(cl:defmethod qnh-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:qnh-val is deprecated. Use hector_uav_msgs-msg:qnh instead.") + (qnh 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 ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'altitude)))) + (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 'pressure)))) + (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 'qnh)))) + (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 '" + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) 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 'altitude) (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 'pressure) (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 'qnh) (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 '" + "hector_uav_msgs/Altimeter") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'Altimeter))) + "Returns string type for a message object of type 'Altimeter" + "hector_uav_msgs/Altimeter") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "c785451e2f67a76b902818138e9b53c6") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'Altimeter))) + "Returns md5sum for a message object of type 'Altimeter" + "c785451e2f67a76b902818138e9b53c6") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "Header header~%float32 altitude~%float32 pressure~%float32 qnh~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 'Altimeter))) + "Returns full string definition for message of type 'Altimeter" + (cl:format cl:nil "Header header~%float32 altitude~%float32 pressure~%float32 qnh~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 + 4 + 4 +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'Altimeter + (cl:cons ':header (header msg)) + (cl:cons ':altitude (altitude msg)) + (cl:cons ':pressure (pressure msg)) + (cl:cons ':qnh (qnh msg)) +)) diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/AttitudeCommand.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/AttitudeCommand.lisp new file mode 100644 index 0000000..b9d17bc --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/AttitudeCommand.lisp @@ -0,0 +1,110 @@ +; Auto-generated. Do not edit! + + +(cl:in-package hector_uav_msgs-msg) + + +;//! \htmlinclude AttitudeCommand.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)) + (roll + :reader roll + :initarg :roll + :type cl:float + :initform 0.0) + (pitch + :reader pitch + :initarg :pitch + :type cl:float + :initform 0.0)) +) + +(cl:defclass AttitudeCommand () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'AttitudeCommand) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name hector_uav_msgs-msg: is deprecated: use hector_uav_msgs-msg:AttitudeCommand 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 hector_uav_msgs-msg:header-val is deprecated. Use hector_uav_msgs-msg:header instead.") + (header m)) + +(cl:ensure-generic-function 'roll-val :lambda-list '(m)) +(cl:defmethod roll-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:roll-val is deprecated. Use hector_uav_msgs-msg:roll instead.") + (roll m)) + +(cl:ensure-generic-function 'pitch-val :lambda-list '(m)) +(cl:defmethod pitch-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:pitch-val is deprecated. Use hector_uav_msgs-msg:pitch instead.") + (pitch 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 ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'roll)))) + (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 'pitch)))) + (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 '" + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) 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 'roll) (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 'pitch) (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 '" + "hector_uav_msgs/AttitudeCommand") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'AttitudeCommand))) + "Returns string type for a message object of type 'AttitudeCommand" + "hector_uav_msgs/AttitudeCommand") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "cceacd88dad80f3e3fd1466d24264ec6") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'AttitudeCommand))) + "Returns md5sum for a message object of type 'AttitudeCommand" + "cceacd88dad80f3e3fd1466d24264ec6") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "Header header~%float32 roll~%float32 pitch~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 'AttitudeCommand))) + "Returns full string definition for message of type 'AttitudeCommand" + (cl:format cl:nil "Header header~%float32 roll~%float32 pitch~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 + 4 +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'AttitudeCommand + (cl:cons ':header (header msg)) + (cl:cons ':roll (roll msg)) + (cl:cons ':pitch (pitch msg)) +)) diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/Compass.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/Compass.lisp new file mode 100644 index 0000000..09a0992 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/Compass.lisp @@ -0,0 +1,110 @@ +; Auto-generated. Do not edit! + + +(cl:in-package hector_uav_msgs-msg) + + +;//! \htmlinclude Compass.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)) + (magnetic_heading + :reader magnetic_heading + :initarg :magnetic_heading + :type cl:float + :initform 0.0) + (declination + :reader declination + :initarg :declination + :type cl:float + :initform 0.0)) +) + +(cl:defclass Compass () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'Compass) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name hector_uav_msgs-msg: is deprecated: use hector_uav_msgs-msg:Compass 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 hector_uav_msgs-msg:header-val is deprecated. Use hector_uav_msgs-msg:header instead.") + (header m)) + +(cl:ensure-generic-function 'magnetic_heading-val :lambda-list '(m)) +(cl:defmethod magnetic_heading-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:magnetic_heading-val is deprecated. Use hector_uav_msgs-msg:magnetic_heading instead.") + (magnetic_heading m)) + +(cl:ensure-generic-function 'declination-val :lambda-list '(m)) +(cl:defmethod declination-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:declination-val is deprecated. Use hector_uav_msgs-msg:declination instead.") + (declination 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 ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'magnetic_heading)))) + (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 'declination)))) + (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 '" + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) 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 'magnetic_heading) (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 'declination) (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 '" + "hector_uav_msgs/Compass") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'Compass))) + "Returns string type for a message object of type 'Compass" + "hector_uav_msgs/Compass") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "69b5db73a2f794a5a815baf6b84a4be5") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'Compass))) + "Returns md5sum for a message object of type 'Compass" + "69b5db73a2f794a5a815baf6b84a4be5") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "Header header~%float32 magnetic_heading~%float32 declination~%~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 'Compass))) + "Returns full string definition for message of type 'Compass" + (cl:format cl:nil "Header header~%float32 magnetic_heading~%float32 declination~%~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 + 4 +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'Compass + (cl:cons ':header (header msg)) + (cl:cons ':magnetic_heading (magnetic_heading msg)) + (cl:cons ':declination (declination msg)) +)) diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/ControllerState.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/ControllerState.lisp new file mode 100644 index 0000000..154ea56 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/ControllerState.lisp @@ -0,0 +1,128 @@ +; Auto-generated. Do not edit! + + +(cl:in-package hector_uav_msgs-msg) + + +;//! \htmlinclude ControllerState.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)) + (source + :reader source + :initarg :source + :type cl:fixnum + :initform 0) + (mode + :reader mode + :initarg :mode + :type cl:fixnum + :initform 0) + (state + :reader state + :initarg :state + :type cl:fixnum + :initform 0)) +) + +(cl:defclass ControllerState () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'ControllerState) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name hector_uav_msgs-msg: is deprecated: use hector_uav_msgs-msg:ControllerState 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 hector_uav_msgs-msg:header-val is deprecated. Use hector_uav_msgs-msg:header instead.") + (header m)) + +(cl:ensure-generic-function 'source-val :lambda-list '(m)) +(cl:defmethod source-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:source-val is deprecated. Use hector_uav_msgs-msg:source instead.") + (source m)) + +(cl:ensure-generic-function 'mode-val :lambda-list '(m)) +(cl:defmethod mode-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:mode-val is deprecated. Use hector_uav_msgs-msg:mode instead.") + (mode 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 hector_uav_msgs-msg:state-val is deprecated. Use hector_uav_msgs-msg:state instead.") + (state m)) +(cl:defmethod roslisp-msg-protocol:symbol-codes ((msg-type (cl:eql '))) + "Constants for message type '" + '((:MOTORS . 1) + (:ATTITUDE . 2) + (:VELOCITY . 4) + (:POSITION . 8) + (:HEADING . 16) + (:HEIGHT . 32) + (:MOTORS_RUNNING . 1) + (:AIRBORNE . 2)) +) +(cl:defmethod roslisp-msg-protocol:symbol-codes ((msg-type (cl:eql 'ControllerState))) + "Constants for message type 'ControllerState" + '((:MOTORS . 1) + (:ATTITUDE . 2) + (:VELOCITY . 4) + (:POSITION . 8) + (:HEADING . 16) + (:HEIGHT . 32) + (:MOTORS_RUNNING . 1) + (:AIRBORNE . 2)) +) +(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:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'source)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'mode)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'state)) 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:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'source)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'mode)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg '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 '" + "hector_uav_msgs/ControllerState") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'ControllerState))) + "Returns string type for a message object of type 'ControllerState" + "hector_uav_msgs/ControllerState") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "a0f668496c9bbf505c01f59674f2a0c2") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'ControllerState))) + "Returns md5sum for a message object of type 'ControllerState" + "a0f668496c9bbf505c01f59674f2a0c2") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "Header header~%uint8 source~%~%uint8 mode~%uint8 MOTORS = 1~%uint8 ATTITUDE = 2~%uint8 VELOCITY = 4~%uint8 POSITION = 8~%uint8 HEADING = 16~%uint8 HEIGHT = 32~%~%uint8 state~%uint8 MOTORS_RUNNING = 1~%uint8 AIRBORNE = 2~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 'ControllerState))) + "Returns full string definition for message of type 'ControllerState" + (cl:format cl:nil "Header header~%uint8 source~%~%uint8 mode~%uint8 MOTORS = 1~%uint8 ATTITUDE = 2~%uint8 VELOCITY = 4~%uint8 POSITION = 8~%uint8 HEADING = 16~%uint8 HEIGHT = 32~%~%uint8 state~%uint8 MOTORS_RUNNING = 1~%uint8 AIRBORNE = 2~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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)) + 1 + 1 + 1 +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'ControllerState + (cl:cons ':header (header msg)) + (cl:cons ':source (source msg)) + (cl:cons ':mode (mode msg)) + (cl:cons ':state (state msg)) +)) diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/HeadingCommand.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/HeadingCommand.lisp new file mode 100644 index 0000000..995c08f --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/HeadingCommand.lisp @@ -0,0 +1,87 @@ +; Auto-generated. Do not edit! + + +(cl:in-package hector_uav_msgs-msg) + + +;//! \htmlinclude HeadingCommand.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)) + (heading + :reader heading + :initarg :heading + :type cl:float + :initform 0.0)) +) + +(cl:defclass HeadingCommand () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'HeadingCommand) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name hector_uav_msgs-msg: is deprecated: use hector_uav_msgs-msg:HeadingCommand 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 hector_uav_msgs-msg:header-val is deprecated. Use hector_uav_msgs-msg:header instead.") + (header m)) + +(cl:ensure-generic-function 'heading-val :lambda-list '(m)) +(cl:defmethod heading-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:heading-val is deprecated. Use hector_uav_msgs-msg:heading instead.") + (heading 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 ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'heading)))) + (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 '" + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) 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 'heading) (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 '" + "hector_uav_msgs/HeadingCommand") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'HeadingCommand))) + "Returns string type for a message object of type 'HeadingCommand" + "hector_uav_msgs/HeadingCommand") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "bbd082d3b4bc79a5314bb6f95aaedc70") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'HeadingCommand))) + "Returns md5sum for a message object of type 'HeadingCommand" + "bbd082d3b4bc79a5314bb6f95aaedc70") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "Header header~%float32 heading~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 'HeadingCommand))) + "Returns full string definition for message of type 'HeadingCommand" + (cl:format cl:nil "Header header~%float32 heading~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'HeadingCommand + (cl:cons ':header (header msg)) + (cl:cons ':heading (heading msg)) +)) diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/HeightCommand.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/HeightCommand.lisp new file mode 100644 index 0000000..0c5ec83 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/HeightCommand.lisp @@ -0,0 +1,87 @@ +; Auto-generated. Do not edit! + + +(cl:in-package hector_uav_msgs-msg) + + +;//! \htmlinclude HeightCommand.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)) + (height + :reader height + :initarg :height + :type cl:float + :initform 0.0)) +) + +(cl:defclass HeightCommand () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'HeightCommand) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name hector_uav_msgs-msg: is deprecated: use hector_uav_msgs-msg:HeightCommand 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 hector_uav_msgs-msg:header-val is deprecated. Use hector_uav_msgs-msg:header instead.") + (header m)) + +(cl:ensure-generic-function 'height-val :lambda-list '(m)) +(cl:defmethod height-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:height-val is deprecated. Use hector_uav_msgs-msg:height instead.") + (height 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 ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'height)))) + (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 '" + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) 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 'height) (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 '" + "hector_uav_msgs/HeightCommand") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'HeightCommand))) + "Returns string type for a message object of type 'HeightCommand" + "hector_uav_msgs/HeightCommand") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "8c63aeb4f8d9305792b3627c1e7a1ab1") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'HeightCommand))) + "Returns md5sum for a message object of type 'HeightCommand" + "8c63aeb4f8d9305792b3627c1e7a1ab1") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "Header header~%float32 height~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 'HeightCommand))) + "Returns full string definition for message of type 'HeightCommand" + (cl:format cl:nil "Header header~%float32 height~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'HeightCommand + (cl:cons ':header (header msg)) + (cl:cons ':height (height msg)) +)) diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/MotorCommand.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/MotorCommand.lisp new file mode 100644 index 0000000..feabc25 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/MotorCommand.lisp @@ -0,0 +1,212 @@ +; Auto-generated. Do not edit! + + +(cl:in-package hector_uav_msgs-msg) + + +;//! \htmlinclude MotorCommand.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)) + (force + :reader force + :initarg :force + :type (cl:vector cl:float) + :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0)) + (torque + :reader torque + :initarg :torque + :type (cl:vector cl:float) + :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0)) + (frequency + :reader frequency + :initarg :frequency + :type (cl:vector cl:float) + :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0)) + (voltage + :reader voltage + :initarg :voltage + :type (cl:vector cl:float) + :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))) +) + +(cl:defclass MotorCommand () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'MotorCommand) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name hector_uav_msgs-msg: is deprecated: use hector_uav_msgs-msg:MotorCommand 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 hector_uav_msgs-msg:header-val is deprecated. Use hector_uav_msgs-msg:header instead.") + (header m)) + +(cl:ensure-generic-function 'force-val :lambda-list '(m)) +(cl:defmethod force-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:force-val is deprecated. Use hector_uav_msgs-msg:force instead.") + (force m)) + +(cl:ensure-generic-function 'torque-val :lambda-list '(m)) +(cl:defmethod torque-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:torque-val is deprecated. Use hector_uav_msgs-msg:torque instead.") + (torque m)) + +(cl:ensure-generic-function 'frequency-val :lambda-list '(m)) +(cl:defmethod frequency-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:frequency-val is deprecated. Use hector_uav_msgs-msg:frequency instead.") + (frequency m)) + +(cl:ensure-generic-function 'voltage-val :lambda-list '(m)) +(cl:defmethod voltage-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:voltage-val is deprecated. Use hector_uav_msgs-msg:voltage instead.") + (voltage 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 '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-single-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:slot-value msg 'force)) + (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'torque)))) + (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-single-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:slot-value msg 'torque)) + (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'frequency)))) + (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-single-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:slot-value msg 'frequency)) + (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'voltage)))) + (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-single-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:slot-value msg 'voltage)) +) +(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 'force) (cl:make-array __ros_arr_len)) + (cl:let ((vals (cl:slot-value msg '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:aref vals i) (roslisp-utils:decode-single-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 'torque) (cl:make-array __ros_arr_len)) + (cl:let ((vals (cl:slot-value msg 'torque))) + (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:aref vals i) (roslisp-utils:decode-single-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 'frequency) (cl:make-array __ros_arr_len)) + (cl:let ((vals (cl:slot-value msg 'frequency))) + (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:aref vals i) (roslisp-utils:decode-single-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 'voltage) (cl:make-array __ros_arr_len)) + (cl:let ((vals (cl:slot-value msg 'voltage))) + (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:aref vals i) (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 '" + "hector_uav_msgs/MotorCommand") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'MotorCommand))) + "Returns string type for a message object of type 'MotorCommand" + "hector_uav_msgs/MotorCommand") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "ccd4d4d4606731d1c73409e9bfa55808") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'MotorCommand))) + "Returns md5sum for a message object of type 'MotorCommand" + "ccd4d4d4606731d1c73409e9bfa55808") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "Header header~%float32[] force~%float32[] torque~%float32[] frequency~%float32[] voltage~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 'MotorCommand))) + "Returns full string definition for message of type 'MotorCommand" + (cl:format cl:nil "Header header~%float32[] force~%float32[] torque~%float32[] frequency~%float32[] voltage~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 'force) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4))) + 4 (cl:reduce #'cl:+ (cl:slot-value msg 'torque) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4))) + 4 (cl:reduce #'cl:+ (cl:slot-value msg 'frequency) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4))) + 4 (cl:reduce #'cl:+ (cl:slot-value msg 'voltage) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4))) +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'MotorCommand + (cl:cons ':header (header msg)) + (cl:cons ':force (force msg)) + (cl:cons ':torque (torque msg)) + (cl:cons ':frequency (frequency msg)) + (cl:cons ':voltage (voltage msg)) +)) diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/MotorPWM.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/MotorPWM.lisp new file mode 100644 index 0000000..96120f8 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/MotorPWM.lisp @@ -0,0 +1,92 @@ +; Auto-generated. Do not edit! + + +(cl:in-package hector_uav_msgs-msg) + + +;//! \htmlinclude MotorPWM.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)) + (pwm + :reader pwm + :initarg :pwm + :type (cl:vector cl:fixnum) + :initform (cl:make-array 0 :element-type 'cl:fixnum :initial-element 0))) +) + +(cl:defclass MotorPWM () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'MotorPWM) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name hector_uav_msgs-msg: is deprecated: use hector_uav_msgs-msg:MotorPWM 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 hector_uav_msgs-msg:header-val is deprecated. Use hector_uav_msgs-msg:header instead.") + (header m)) + +(cl:ensure-generic-function 'pwm-val :lambda-list '(m)) +(cl:defmethod pwm-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:pwm-val is deprecated. Use hector_uav_msgs-msg:pwm instead.") + (pwm 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 'pwm)))) + (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:write-byte (cl:ldb (cl:byte 8 0) ele) ostream)) + (cl:slot-value msg 'pwm)) +) +(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 'pwm) (cl:make-array __ros_arr_len)) + (cl:let ((vals (cl:slot-value msg 'pwm))) + (cl:dotimes (i __ros_arr_len) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:aref vals i)) (cl:read-byte istream))))) + msg +) +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) + "Returns string type for a message object of type '" + "hector_uav_msgs/MotorPWM") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'MotorPWM))) + "Returns string type for a message object of type 'MotorPWM" + "hector_uav_msgs/MotorPWM") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "42f78dd80f99e0208248b8a257b8a645") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'MotorPWM))) + "Returns md5sum for a message object of type 'MotorPWM" + "42f78dd80f99e0208248b8a257b8a645") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "Header header~%uint8[] pwm~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 'MotorPWM))) + "Returns full string definition for message of type 'MotorPWM" + (cl:format cl:nil "Header header~%uint8[] pwm~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 'pwm) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 1))) +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'MotorPWM + (cl:cons ':header (header msg)) + (cl:cons ':pwm (pwm msg)) +)) diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/MotorStatus.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/MotorStatus.lisp new file mode 100644 index 0000000..f976f0a --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/MotorStatus.lisp @@ -0,0 +1,203 @@ +; Auto-generated. Do not edit! + + +(cl:in-package hector_uav_msgs-msg) + + +;//! \htmlinclude MotorStatus.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)) + (on + :reader on + :initarg :on + :type cl:boolean + :initform cl:nil) + (running + :reader running + :initarg :running + :type cl:boolean + :initform cl:nil) + (voltage + :reader voltage + :initarg :voltage + :type (cl:vector cl:float) + :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0)) + (frequency + :reader frequency + :initarg :frequency + :type (cl:vector cl:float) + :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0)) + (current + :reader current + :initarg :current + :type (cl:vector cl:float) + :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))) +) + +(cl:defclass MotorStatus () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'MotorStatus) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name hector_uav_msgs-msg: is deprecated: use hector_uav_msgs-msg:MotorStatus 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 hector_uav_msgs-msg:header-val is deprecated. Use hector_uav_msgs-msg:header instead.") + (header m)) + +(cl:ensure-generic-function 'on-val :lambda-list '(m)) +(cl:defmethod on-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:on-val is deprecated. Use hector_uav_msgs-msg:on instead.") + (on m)) + +(cl:ensure-generic-function 'running-val :lambda-list '(m)) +(cl:defmethod running-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:running-val is deprecated. Use hector_uav_msgs-msg:running instead.") + (running m)) + +(cl:ensure-generic-function 'voltage-val :lambda-list '(m)) +(cl:defmethod voltage-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:voltage-val is deprecated. Use hector_uav_msgs-msg:voltage instead.") + (voltage m)) + +(cl:ensure-generic-function 'frequency-val :lambda-list '(m)) +(cl:defmethod frequency-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:frequency-val is deprecated. Use hector_uav_msgs-msg:frequency instead.") + (frequency m)) + +(cl:ensure-generic-function 'current-val :lambda-list '(m)) +(cl:defmethod current-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:current-val is deprecated. Use hector_uav_msgs-msg:current instead.") + (current 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:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'on) 1 0)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'running) 1 0)) ostream) + (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'voltage)))) + (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-single-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:slot-value msg 'voltage)) + (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'frequency)))) + (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-single-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:slot-value msg 'frequency)) + (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'current)))) + (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-single-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:slot-value msg 'current)) +) +(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:setf (cl:slot-value msg 'on) (cl:not (cl:zerop (cl:read-byte istream)))) + (cl:setf (cl:slot-value msg 'running) (cl:not (cl:zerop (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 'voltage) (cl:make-array __ros_arr_len)) + (cl:let ((vals (cl:slot-value msg 'voltage))) + (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:aref vals i) (roslisp-utils:decode-single-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 'frequency) (cl:make-array __ros_arr_len)) + (cl:let ((vals (cl:slot-value msg 'frequency))) + (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:aref vals i) (roslisp-utils:decode-single-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 'current) (cl:make-array __ros_arr_len)) + (cl:let ((vals (cl:slot-value msg 'current))) + (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:aref vals i) (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 '" + "hector_uav_msgs/MotorStatus") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'MotorStatus))) + "Returns string type for a message object of type 'MotorStatus" + "hector_uav_msgs/MotorStatus") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "d771017cd812838d32da48fbe32b0928") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'MotorStatus))) + "Returns md5sum for a message object of type 'MotorStatus" + "d771017cd812838d32da48fbe32b0928") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "Header header~%bool on~%bool running~%float32[] voltage~%float32[] frequency~%float32[] current~%~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 'MotorStatus))) + "Returns full string definition for message of type 'MotorStatus" + (cl:format cl:nil "Header header~%bool on~%bool running~%float32[] voltage~%float32[] frequency~%float32[] current~%~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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)) + 1 + 1 + 4 (cl:reduce #'cl:+ (cl:slot-value msg 'voltage) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4))) + 4 (cl:reduce #'cl:+ (cl:slot-value msg 'frequency) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4))) + 4 (cl:reduce #'cl:+ (cl:slot-value msg 'current) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4))) +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'MotorStatus + (cl:cons ':header (header msg)) + (cl:cons ':on (on msg)) + (cl:cons ':running (running msg)) + (cl:cons ':voltage (voltage msg)) + (cl:cons ':frequency (frequency msg)) + (cl:cons ':current (current msg)) +)) diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/PositionXYCommand.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/PositionXYCommand.lisp new file mode 100644 index 0000000..4172c09 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/PositionXYCommand.lisp @@ -0,0 +1,110 @@ +; Auto-generated. Do not edit! + + +(cl:in-package hector_uav_msgs-msg) + + +;//! \htmlinclude PositionXYCommand.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)) + (x + :reader x + :initarg :x + :type cl:float + :initform 0.0) + (y + :reader y + :initarg :y + :type cl:float + :initform 0.0)) +) + +(cl:defclass PositionXYCommand () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'PositionXYCommand) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name hector_uav_msgs-msg: is deprecated: use hector_uav_msgs-msg:PositionXYCommand 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 hector_uav_msgs-msg:header-val is deprecated. Use hector_uav_msgs-msg:header instead.") + (header m)) + +(cl:ensure-generic-function 'x-val :lambda-list '(m)) +(cl:defmethod x-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:x-val is deprecated. Use hector_uav_msgs-msg:x instead.") + (x m)) + +(cl:ensure-generic-function 'y-val :lambda-list '(m)) +(cl:defmethod y-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:y-val is deprecated. Use hector_uav_msgs-msg:y instead.") + (y 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 ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'x)))) + (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 'y)))) + (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 '" + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) 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 'x) (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 'y) (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 '" + "hector_uav_msgs/PositionXYCommand") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'PositionXYCommand))) + "Returns string type for a message object of type 'PositionXYCommand" + "hector_uav_msgs/PositionXYCommand") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "7b4d52af2aa98221d9bb260976d6a201") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'PositionXYCommand))) + "Returns md5sum for a message object of type 'PositionXYCommand" + "7b4d52af2aa98221d9bb260976d6a201") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "Header header~%float32 x~%float32 y~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 'PositionXYCommand))) + "Returns full string definition for message of type 'PositionXYCommand" + (cl:format cl:nil "Header header~%float32 x~%float32 y~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 + 4 +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'PositionXYCommand + (cl:cons ':header (header msg)) + (cl:cons ':x (x msg)) + (cl:cons ':y (y msg)) +)) diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/RC.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/RC.lisp new file mode 100644 index 0000000..028e35e --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/RC.lisp @@ -0,0 +1,237 @@ +; Auto-generated. Do not edit! + + +(cl:in-package hector_uav_msgs-msg) + + +;//! \htmlinclude RC.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)) + (status + :reader status + :initarg :status + :type cl:fixnum + :initform 0) + (valid + :reader valid + :initarg :valid + :type cl:boolean + :initform cl:nil) + (axis + :reader axis + :initarg :axis + :type (cl:vector cl:float) + :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0)) + (axis_function + :reader axis_function + :initarg :axis_function + :type (cl:vector cl:fixnum) + :initform (cl:make-array 0 :element-type 'cl:fixnum :initial-element 0)) + (swit + :reader swit + :initarg :swit + :type (cl:vector cl:fixnum) + :initform (cl:make-array 0 :element-type 'cl:fixnum :initial-element 0)) + (swit_function + :reader swit_function + :initarg :swit_function + :type (cl:vector cl:fixnum) + :initform (cl:make-array 0 :element-type 'cl:fixnum :initial-element 0))) +) + +(cl:defclass RC () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'RC) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name hector_uav_msgs-msg: is deprecated: use hector_uav_msgs-msg:RC 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 hector_uav_msgs-msg:header-val is deprecated. Use hector_uav_msgs-msg:header instead.") + (header m)) + +(cl:ensure-generic-function 'status-val :lambda-list '(m)) +(cl:defmethod status-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:status-val is deprecated. Use hector_uav_msgs-msg:status instead.") + (status m)) + +(cl:ensure-generic-function 'valid-val :lambda-list '(m)) +(cl:defmethod valid-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:valid-val is deprecated. Use hector_uav_msgs-msg:valid instead.") + (valid m)) + +(cl:ensure-generic-function 'axis-val :lambda-list '(m)) +(cl:defmethod axis-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:axis-val is deprecated. Use hector_uav_msgs-msg:axis instead.") + (axis m)) + +(cl:ensure-generic-function 'axis_function-val :lambda-list '(m)) +(cl:defmethod axis_function-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:axis_function-val is deprecated. Use hector_uav_msgs-msg:axis_function instead.") + (axis_function m)) + +(cl:ensure-generic-function 'swit-val :lambda-list '(m)) +(cl:defmethod swit-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:swit-val is deprecated. Use hector_uav_msgs-msg:swit instead.") + (swit m)) + +(cl:ensure-generic-function 'swit_function-val :lambda-list '(m)) +(cl:defmethod swit_function-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:swit_function-val is deprecated. Use hector_uav_msgs-msg:swit_function instead.") + (swit_function m)) +(cl:defmethod roslisp-msg-protocol:symbol-codes ((msg-type (cl:eql '))) + "Constants for message type '" + '((:ROLL . 1) + (:PITCH . 2) + (:YAW . 3) + (:STEER . 4) + (:HEIGHT . 5) + (:THRUST . 6) + (:BRAKE . 7)) +) +(cl:defmethod roslisp-msg-protocol:symbol-codes ((msg-type (cl:eql 'RC))) + "Constants for message type 'RC" + '((:ROLL . 1) + (:PITCH . 2) + (:YAW . 3) + (:STEER . 4) + (:HEIGHT . 5) + (:THRUST . 6) + (:BRAKE . 7)) +) +(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:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'status)) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'valid) 1 0)) ostream) + (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'axis)))) + (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-single-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:slot-value msg 'axis)) + (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'axis_function)))) + (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:write-byte (cl:ldb (cl:byte 8 0) ele) ostream)) + (cl:slot-value msg 'axis_function)) + (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'swit)))) + (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* ((signed ele) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 256) signed))) + (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream) + )) + (cl:slot-value msg 'swit)) + (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'swit_function)))) + (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:write-byte (cl:ldb (cl:byte 8 0) ele) ostream)) + (cl:slot-value msg 'swit_function)) +) +(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:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'status)) (cl:read-byte istream)) + (cl:setf (cl:slot-value msg 'valid) (cl:not (cl:zerop (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 'axis) (cl:make-array __ros_arr_len)) + (cl:let ((vals (cl:slot-value msg 'axis))) + (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:aref vals i) (roslisp-utils:decode-single-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 'axis_function) (cl:make-array __ros_arr_len)) + (cl:let ((vals (cl:slot-value msg 'axis_function))) + (cl:dotimes (i __ros_arr_len) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:aref vals i)) (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 'swit) (cl:make-array __ros_arr_len)) + (cl:let ((vals (cl:slot-value msg 'swit))) + (cl:dotimes (i __ros_arr_len) + (cl:let ((unsigned 0)) + (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream)) + (cl:setf (cl:aref vals i) (cl:if (cl:< unsigned 128) unsigned (cl:- unsigned 256))))))) + (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 'swit_function) (cl:make-array __ros_arr_len)) + (cl:let ((vals (cl:slot-value msg 'swit_function))) + (cl:dotimes (i __ros_arr_len) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:aref vals i)) (cl:read-byte istream))))) + msg +) +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) + "Returns string type for a message object of type '" + "hector_uav_msgs/RC") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'RC))) + "Returns string type for a message object of type 'RC" + "hector_uav_msgs/RC") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "2691c2fe8c5ab2323146bdd8dd2e449e") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'RC))) + "Returns md5sum for a message object of type 'RC" + "2691c2fe8c5ab2323146bdd8dd2e449e") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "Header header~%~%uint8 ROLL = 1~%uint8 PITCH = 2~%uint8 YAW = 3~%uint8 STEER = 4~%uint8 HEIGHT = 5~%uint8 THRUST = 6~%uint8 BRAKE = 7~%~%uint8 status~%bool valid~%~%float32[] axis~%uint8[] axis_function~%~%int8[] swit~%uint8[] swit_function~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 'RC))) + "Returns full string definition for message of type 'RC" + (cl:format cl:nil "Header header~%~%uint8 ROLL = 1~%uint8 PITCH = 2~%uint8 YAW = 3~%uint8 STEER = 4~%uint8 HEIGHT = 5~%uint8 THRUST = 6~%uint8 BRAKE = 7~%~%uint8 status~%bool valid~%~%float32[] axis~%uint8[] axis_function~%~%int8[] swit~%uint8[] swit_function~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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)) + 1 + 1 + 4 (cl:reduce #'cl:+ (cl:slot-value msg 'axis) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4))) + 4 (cl:reduce #'cl:+ (cl:slot-value msg 'axis_function) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 1))) + 4 (cl:reduce #'cl:+ (cl:slot-value msg 'swit) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 1))) + 4 (cl:reduce #'cl:+ (cl:slot-value msg 'swit_function) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 1))) +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'RC + (cl:cons ':header (header msg)) + (cl:cons ':status (status msg)) + (cl:cons ':valid (valid msg)) + (cl:cons ':axis (axis msg)) + (cl:cons ':axis_function (axis_function msg)) + (cl:cons ':swit (swit msg)) + (cl:cons ':swit_function (swit_function msg)) +)) diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/RawImu.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/RawImu.lisp new file mode 100644 index 0000000..0dbe7ef --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/RawImu.lisp @@ -0,0 +1,104 @@ +; Auto-generated. Do not edit! + + +(cl:in-package hector_uav_msgs-msg) + + +;//! \htmlinclude RawImu.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)) + (angular_velocity + :reader angular_velocity + :initarg :angular_velocity + :type (cl:vector cl:fixnum) + :initform (cl:make-array 3 :element-type 'cl:fixnum :initial-element 0)) + (linear_acceleration + :reader linear_acceleration + :initarg :linear_acceleration + :type (cl:vector cl:fixnum) + :initform (cl:make-array 3 :element-type 'cl:fixnum :initial-element 0))) +) + +(cl:defclass RawImu () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'RawImu) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name hector_uav_msgs-msg: is deprecated: use hector_uav_msgs-msg:RawImu 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 hector_uav_msgs-msg:header-val is deprecated. Use hector_uav_msgs-msg:header instead.") + (header m)) + +(cl:ensure-generic-function 'angular_velocity-val :lambda-list '(m)) +(cl:defmethod angular_velocity-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:angular_velocity-val is deprecated. Use hector_uav_msgs-msg:angular_velocity instead.") + (angular_velocity m)) + +(cl:ensure-generic-function 'linear_acceleration-val :lambda-list '(m)) +(cl:defmethod linear_acceleration-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:linear_acceleration-val is deprecated. Use hector_uav_msgs-msg:linear_acceleration instead.") + (linear_acceleration 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:map cl:nil #'(cl:lambda (ele) (cl:write-byte (cl:ldb (cl:byte 8 0) ele) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) ele) ostream)) + (cl:slot-value msg 'angular_velocity)) + (cl:map cl:nil #'(cl:lambda (ele) (cl:write-byte (cl:ldb (cl:byte 8 0) ele) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) ele) ostream)) + (cl:slot-value msg 'linear_acceleration)) +) +(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:setf (cl:slot-value msg 'angular_velocity) (cl:make-array 3)) + (cl:let ((vals (cl:slot-value msg 'angular_velocity))) + (cl:dotimes (i 3) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:aref vals i)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:aref vals i)) (cl:read-byte istream)))) + (cl:setf (cl:slot-value msg 'linear_acceleration) (cl:make-array 3)) + (cl:let ((vals (cl:slot-value msg 'linear_acceleration))) + (cl:dotimes (i 3) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:aref vals i)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:aref vals i)) (cl:read-byte istream)))) + msg +) +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) + "Returns string type for a message object of type '" + "hector_uav_msgs/RawImu") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'RawImu))) + "Returns string type for a message object of type 'RawImu" + "hector_uav_msgs/RawImu") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "0879a838e899792bcf72ccfe7b5595ef") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'RawImu))) + "Returns md5sum for a message object of type 'RawImu" + "0879a838e899792bcf72ccfe7b5595ef") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "Header header~%uint16[3] angular_velocity~%uint16[3] linear_acceleration~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 'RawImu))) + "Returns full string definition for message of type 'RawImu" + (cl:format cl:nil "Header header~%uint16[3] angular_velocity~%uint16[3] linear_acceleration~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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)) + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'angular_velocity) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 2))) + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'linear_acceleration) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 2))) +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'RawImu + (cl:cons ':header (header msg)) + (cl:cons ':angular_velocity (angular_velocity msg)) + (cl:cons ':linear_acceleration (linear_acceleration msg)) +)) diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/RawMagnetic.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/RawMagnetic.lisp new file mode 100644 index 0000000..c49a073 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/RawMagnetic.lisp @@ -0,0 +1,99 @@ +; Auto-generated. Do not edit! + + +(cl:in-package hector_uav_msgs-msg) + + +;//! \htmlinclude RawMagnetic.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)) + (channel + :reader channel + :initarg :channel + :type (cl:vector cl:float) + :initform (cl:make-array 3 :element-type 'cl:float :initial-element 0.0))) +) + +(cl:defclass RawMagnetic () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'RawMagnetic) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name hector_uav_msgs-msg: is deprecated: use hector_uav_msgs-msg:RawMagnetic 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 hector_uav_msgs-msg:header-val is deprecated. Use hector_uav_msgs-msg:header instead.") + (header m)) + +(cl:ensure-generic-function 'channel-val :lambda-list '(m)) +(cl:defmethod channel-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:channel-val is deprecated. Use hector_uav_msgs-msg:channel instead.") + (channel 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: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 'channel)) +) +(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:setf (cl:slot-value msg 'channel) (cl:make-array 3)) + (cl:let ((vals (cl:slot-value msg 'channel))) + (cl:dotimes (i 3) + (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 '" + "hector_uav_msgs/RawMagnetic") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'RawMagnetic))) + "Returns string type for a message object of type 'RawMagnetic" + "hector_uav_msgs/RawMagnetic") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "babd510868ac7b486e2097c79e1384c9") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'RawMagnetic))) + "Returns md5sum for a message object of type 'RawMagnetic" + "babd510868ac7b486e2097c79e1384c9") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "Header header~%float64[3] channel~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 'RawMagnetic))) + "Returns full string definition for message of type 'RawMagnetic" + (cl:format cl:nil "Header header~%float64[3] channel~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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)) + 0 (cl:reduce #'cl:+ (cl:slot-value msg 'channel) :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 'RawMagnetic + (cl:cons ':header (header msg)) + (cl:cons ':channel (channel msg)) +)) diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/RawRC.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/RawRC.lisp new file mode 100644 index 0000000..75ab344 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/RawRC.lisp @@ -0,0 +1,108 @@ +; Auto-generated. Do not edit! + + +(cl:in-package hector_uav_msgs-msg) + + +;//! \htmlinclude RawRC.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)) + (status + :reader status + :initarg :status + :type cl:fixnum + :initform 0) + (channel + :reader channel + :initarg :channel + :type (cl:vector cl:fixnum) + :initform (cl:make-array 0 :element-type 'cl:fixnum :initial-element 0))) +) + +(cl:defclass RawRC () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'RawRC) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name hector_uav_msgs-msg: is deprecated: use hector_uav_msgs-msg:RawRC 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 hector_uav_msgs-msg:header-val is deprecated. Use hector_uav_msgs-msg:header instead.") + (header m)) + +(cl:ensure-generic-function 'status-val :lambda-list '(m)) +(cl:defmethod status-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:status-val is deprecated. Use hector_uav_msgs-msg:status instead.") + (status m)) + +(cl:ensure-generic-function 'channel-val :lambda-list '(m)) +(cl:defmethod channel-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:channel-val is deprecated. Use hector_uav_msgs-msg:channel instead.") + (channel 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:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'status)) ostream) + (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'channel)))) + (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:write-byte (cl:ldb (cl:byte 8 0) ele) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) ele) ostream)) + (cl:slot-value msg 'channel)) +) +(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:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'status)) (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 'channel) (cl:make-array __ros_arr_len)) + (cl:let ((vals (cl:slot-value msg 'channel))) + (cl:dotimes (i __ros_arr_len) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:aref vals i)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:aref vals i)) (cl:read-byte istream))))) + msg +) +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) + "Returns string type for a message object of type '" + "hector_uav_msgs/RawRC") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'RawRC))) + "Returns string type for a message object of type 'RawRC" + "hector_uav_msgs/RawRC") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "f1584488325f747abea0b77036f70e2c") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'RawRC))) + "Returns md5sum for a message object of type 'RawRC" + "f1584488325f747abea0b77036f70e2c") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "Header header~%uint8 status~%uint16[] channel~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 'RawRC))) + "Returns full string definition for message of type 'RawRC" + (cl:format cl:nil "Header header~%uint8 status~%uint16[] channel~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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)) + 1 + 4 (cl:reduce #'cl:+ (cl:slot-value msg 'channel) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 2))) +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'RawRC + (cl:cons ':header (header msg)) + (cl:cons ':status (status msg)) + (cl:cons ':channel (channel msg)) +)) diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/RuddersCommand.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/RuddersCommand.lisp new file mode 100644 index 0000000..2d38538 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/RuddersCommand.lisp @@ -0,0 +1,133 @@ +; Auto-generated. Do not edit! + + +(cl:in-package hector_uav_msgs-msg) + + +;//! \htmlinclude RuddersCommand.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)) + (aileron + :reader aileron + :initarg :aileron + :type cl:float + :initform 0.0) + (elevator + :reader elevator + :initarg :elevator + :type cl:float + :initform 0.0) + (rudder + :reader rudder + :initarg :rudder + :type cl:float + :initform 0.0)) +) + +(cl:defclass RuddersCommand () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'RuddersCommand) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name hector_uav_msgs-msg: is deprecated: use hector_uav_msgs-msg:RuddersCommand 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 hector_uav_msgs-msg:header-val is deprecated. Use hector_uav_msgs-msg:header instead.") + (header m)) + +(cl:ensure-generic-function 'aileron-val :lambda-list '(m)) +(cl:defmethod aileron-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:aileron-val is deprecated. Use hector_uav_msgs-msg:aileron instead.") + (aileron m)) + +(cl:ensure-generic-function 'elevator-val :lambda-list '(m)) +(cl:defmethod elevator-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:elevator-val is deprecated. Use hector_uav_msgs-msg:elevator instead.") + (elevator m)) + +(cl:ensure-generic-function 'rudder-val :lambda-list '(m)) +(cl:defmethod rudder-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:rudder-val is deprecated. Use hector_uav_msgs-msg:rudder instead.") + (rudder 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 ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'aileron)))) + (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 'elevator)))) + (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 'rudder)))) + (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 '" + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) 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 'aileron) (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 'elevator) (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 'rudder) (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 '" + "hector_uav_msgs/RuddersCommand") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'RuddersCommand))) + "Returns string type for a message object of type 'RuddersCommand" + "hector_uav_msgs/RuddersCommand") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "2e136cb8cfffc2233e404b320c27bca6") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'RuddersCommand))) + "Returns md5sum for a message object of type 'RuddersCommand" + "2e136cb8cfffc2233e404b320c27bca6") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "Header header~%float32 aileron~%float32 elevator~%float32 rudder~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 'RuddersCommand))) + "Returns full string definition for message of type 'RuddersCommand" + (cl:format cl:nil "Header header~%float32 aileron~%float32 elevator~%float32 rudder~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 + 4 + 4 +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'RuddersCommand + (cl:cons ':header (header msg)) + (cl:cons ':aileron (aileron msg)) + (cl:cons ':elevator (elevator msg)) + (cl:cons ':rudder (rudder msg)) +)) diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/ServoCommand.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/ServoCommand.lisp new file mode 100644 index 0000000..a277f08 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/ServoCommand.lisp @@ -0,0 +1,94 @@ +; Auto-generated. Do not edit! + + +(cl:in-package hector_uav_msgs-msg) + + +;//! \htmlinclude ServoCommand.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)) + (value + :reader value + :initarg :value + :type (cl:vector cl:fixnum) + :initform (cl:make-array 0 :element-type 'cl:fixnum :initial-element 0))) +) + +(cl:defclass ServoCommand () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'ServoCommand) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name hector_uav_msgs-msg: is deprecated: use hector_uav_msgs-msg:ServoCommand 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 hector_uav_msgs-msg:header-val is deprecated. Use hector_uav_msgs-msg:header instead.") + (header m)) + +(cl:ensure-generic-function 'value-val :lambda-list '(m)) +(cl:defmethod value-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:value-val is deprecated. Use hector_uav_msgs-msg:value instead.") + (value 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 'value)))) + (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:write-byte (cl:ldb (cl:byte 8 0) ele) ostream) + (cl:write-byte (cl:ldb (cl:byte 8 8) ele) ostream)) + (cl:slot-value msg 'value)) +) +(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 'value) (cl:make-array __ros_arr_len)) + (cl:let ((vals (cl:slot-value msg 'value))) + (cl:dotimes (i __ros_arr_len) + (cl:setf (cl:ldb (cl:byte 8 0) (cl:aref vals i)) (cl:read-byte istream)) + (cl:setf (cl:ldb (cl:byte 8 8) (cl:aref vals i)) (cl:read-byte istream))))) + msg +) +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '))) + "Returns string type for a message object of type '" + "hector_uav_msgs/ServoCommand") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'ServoCommand))) + "Returns string type for a message object of type 'ServoCommand" + "hector_uav_msgs/ServoCommand") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "d60ef35d4e3412dc6686b189be2523d0") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'ServoCommand))) + "Returns md5sum for a message object of type 'ServoCommand" + "d60ef35d4e3412dc6686b189be2523d0") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "Header header~%uint16[] value~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 'ServoCommand))) + "Returns full string definition for message of type 'ServoCommand" + (cl:format cl:nil "Header header~%uint16[] value~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 'value) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 2))) +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'ServoCommand + (cl:cons ':header (header msg)) + (cl:cons ':value (value msg)) +)) diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/Supply.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/Supply.lisp new file mode 100644 index 0000000..0fe0985 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/Supply.lisp @@ -0,0 +1,138 @@ +; Auto-generated. Do not edit! + + +(cl:in-package hector_uav_msgs-msg) + + +;//! \htmlinclude Supply.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)) + (voltage + :reader voltage + :initarg :voltage + :type (cl:vector cl:float) + :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0)) + (current + :reader current + :initarg :current + :type (cl:vector cl:float) + :initform (cl:make-array 0 :element-type 'cl:float :initial-element 0.0))) +) + +(cl:defclass Supply () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'Supply) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name hector_uav_msgs-msg: is deprecated: use hector_uav_msgs-msg:Supply 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 hector_uav_msgs-msg:header-val is deprecated. Use hector_uav_msgs-msg:header instead.") + (header m)) + +(cl:ensure-generic-function 'voltage-val :lambda-list '(m)) +(cl:defmethod voltage-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:voltage-val is deprecated. Use hector_uav_msgs-msg:voltage instead.") + (voltage m)) + +(cl:ensure-generic-function 'current-val :lambda-list '(m)) +(cl:defmethod current-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:current-val is deprecated. Use hector_uav_msgs-msg:current instead.") + (current 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 'voltage)))) + (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-single-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:slot-value msg 'voltage)) + (cl:let ((__ros_arr_len (cl:length (cl:slot-value msg 'current)))) + (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-single-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:slot-value msg 'current)) +) +(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 'voltage) (cl:make-array __ros_arr_len)) + (cl:let ((vals (cl:slot-value msg 'voltage))) + (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:aref vals i) (roslisp-utils:decode-single-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 'current) (cl:make-array __ros_arr_len)) + (cl:let ((vals (cl:slot-value msg 'current))) + (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:aref vals i) (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 '" + "hector_uav_msgs/Supply") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'Supply))) + "Returns string type for a message object of type 'Supply" + "hector_uav_msgs/Supply") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "26f5225a2b836fba706a87e45759fdfc") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'Supply))) + "Returns md5sum for a message object of type 'Supply" + "26f5225a2b836fba706a87e45759fdfc") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "Header header~%float32[] voltage~%float32[] current~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 'Supply))) + "Returns full string definition for message of type 'Supply" + (cl:format cl:nil "Header header~%float32[] voltage~%float32[] current~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 'voltage) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4))) + 4 (cl:reduce #'cl:+ (cl:slot-value msg 'current) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4))) +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'Supply + (cl:cons ':header (header msg)) + (cl:cons ':voltage (voltage msg)) + (cl:cons ':current (current msg)) +)) diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/ThrustCommand.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/ThrustCommand.lisp new file mode 100644 index 0000000..249272d --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/ThrustCommand.lisp @@ -0,0 +1,87 @@ +; Auto-generated. Do not edit! + + +(cl:in-package hector_uav_msgs-msg) + + +;//! \htmlinclude ThrustCommand.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)) + (thrust + :reader thrust + :initarg :thrust + :type cl:float + :initform 0.0)) +) + +(cl:defclass ThrustCommand () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'ThrustCommand) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name hector_uav_msgs-msg: is deprecated: use hector_uav_msgs-msg:ThrustCommand 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 hector_uav_msgs-msg:header-val is deprecated. Use hector_uav_msgs-msg:header instead.") + (header m)) + +(cl:ensure-generic-function 'thrust-val :lambda-list '(m)) +(cl:defmethod thrust-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:thrust-val is deprecated. Use hector_uav_msgs-msg:thrust instead.") + (thrust 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 ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'thrust)))) + (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 '" + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) 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 'thrust) (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 '" + "hector_uav_msgs/ThrustCommand") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'ThrustCommand))) + "Returns string type for a message object of type 'ThrustCommand" + "hector_uav_msgs/ThrustCommand") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "c61da3a8868a8b502eaf0b0abd839f57") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'ThrustCommand))) + "Returns md5sum for a message object of type 'ThrustCommand" + "c61da3a8868a8b502eaf0b0abd839f57") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "Header header~%float32 thrust~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 'ThrustCommand))) + "Returns full string definition for message of type 'ThrustCommand" + (cl:format cl:nil "Header header~%float32 thrust~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'ThrustCommand + (cl:cons ':header (header msg)) + (cl:cons ':thrust (thrust msg)) +)) diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/VelocityXYCommand.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/VelocityXYCommand.lisp new file mode 100644 index 0000000..ecb27c8 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/VelocityXYCommand.lisp @@ -0,0 +1,110 @@ +; Auto-generated. Do not edit! + + +(cl:in-package hector_uav_msgs-msg) + + +;//! \htmlinclude VelocityXYCommand.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)) + (x + :reader x + :initarg :x + :type cl:float + :initform 0.0) + (y + :reader y + :initarg :y + :type cl:float + :initform 0.0)) +) + +(cl:defclass VelocityXYCommand () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'VelocityXYCommand) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name hector_uav_msgs-msg: is deprecated: use hector_uav_msgs-msg:VelocityXYCommand 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 hector_uav_msgs-msg:header-val is deprecated. Use hector_uav_msgs-msg:header instead.") + (header m)) + +(cl:ensure-generic-function 'x-val :lambda-list '(m)) +(cl:defmethod x-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:x-val is deprecated. Use hector_uav_msgs-msg:x instead.") + (x m)) + +(cl:ensure-generic-function 'y-val :lambda-list '(m)) +(cl:defmethod y-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:y-val is deprecated. Use hector_uav_msgs-msg:y instead.") + (y 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 ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'x)))) + (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 'y)))) + (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 '" + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) 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 'x) (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 'y) (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 '" + "hector_uav_msgs/VelocityXYCommand") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'VelocityXYCommand))) + "Returns string type for a message object of type 'VelocityXYCommand" + "hector_uav_msgs/VelocityXYCommand") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "7b4d52af2aa98221d9bb260976d6a201") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'VelocityXYCommand))) + "Returns md5sum for a message object of type 'VelocityXYCommand" + "7b4d52af2aa98221d9bb260976d6a201") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "Header header~%float32 x~%float32 y~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 'VelocityXYCommand))) + "Returns full string definition for message of type 'VelocityXYCommand" + (cl:format cl:nil "Header header~%float32 x~%float32 y~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 + 4 +)) +(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'VelocityXYCommand + (cl:cons ':header (header msg)) + (cl:cons ':x (x msg)) + (cl:cons ':y (y msg)) +)) diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/VelocityZCommand.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/VelocityZCommand.lisp new file mode 100644 index 0000000..38bc826 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/VelocityZCommand.lisp @@ -0,0 +1,87 @@ +; Auto-generated. Do not edit! + + +(cl:in-package hector_uav_msgs-msg) + + +;//! \htmlinclude VelocityZCommand.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)) + (z + :reader z + :initarg :z + :type cl:float + :initform 0.0)) +) + +(cl:defclass VelocityZCommand () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'VelocityZCommand) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name hector_uav_msgs-msg: is deprecated: use hector_uav_msgs-msg:VelocityZCommand 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 hector_uav_msgs-msg:header-val is deprecated. Use hector_uav_msgs-msg:header instead.") + (header m)) + +(cl:ensure-generic-function 'z-val :lambda-list '(m)) +(cl:defmethod z-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:z-val is deprecated. Use hector_uav_msgs-msg:z instead.") + (z 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 ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'z)))) + (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 '" + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) 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 'z) (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 '" + "hector_uav_msgs/VelocityZCommand") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'VelocityZCommand))) + "Returns string type for a message object of type 'VelocityZCommand" + "hector_uav_msgs/VelocityZCommand") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "68efb57c1ccbb065338578afbfc54ec5") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'VelocityZCommand))) + "Returns md5sum for a message object of type 'VelocityZCommand" + "68efb57c1ccbb065338578afbfc54ec5") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "Header header~%float32 z~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 'VelocityZCommand))) + "Returns full string definition for message of type 'VelocityZCommand" + (cl:format cl:nil "Header header~%float32 z~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'VelocityZCommand + (cl:cons ':header (header msg)) + (cl:cons ':z (z msg)) +)) diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/YawrateCommand.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/YawrateCommand.lisp new file mode 100644 index 0000000..3079cf0 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/YawrateCommand.lisp @@ -0,0 +1,87 @@ +; Auto-generated. Do not edit! + + +(cl:in-package hector_uav_msgs-msg) + + +;//! \htmlinclude YawrateCommand.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)) + (turnrate + :reader turnrate + :initarg :turnrate + :type cl:float + :initform 0.0)) +) + +(cl:defclass YawrateCommand () + ()) + +(cl:defmethod cl:initialize-instance :after ((m ) cl:&rest args) + (cl:declare (cl:ignorable args)) + (cl:unless (cl:typep m 'YawrateCommand) + (roslisp-msg-protocol:msg-deprecation-warning "using old message class name hector_uav_msgs-msg: is deprecated: use hector_uav_msgs-msg:YawrateCommand 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 hector_uav_msgs-msg:header-val is deprecated. Use hector_uav_msgs-msg:header instead.") + (header m)) + +(cl:ensure-generic-function 'turnrate-val :lambda-list '(m)) +(cl:defmethod turnrate-val ((m )) + (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader hector_uav_msgs-msg:turnrate-val is deprecated. Use hector_uav_msgs-msg:turnrate instead.") + (turnrate 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 ((bits (roslisp-utils:encode-single-float-bits (cl:slot-value msg 'turnrate)))) + (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 '" + (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) 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 'turnrate) (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 '" + "hector_uav_msgs/YawrateCommand") +(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'YawrateCommand))) + "Returns string type for a message object of type 'YawrateCommand" + "hector_uav_msgs/YawrateCommand") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '))) + "Returns md5sum for a message object of type '" + "d8d2a0a1e3daa0fc410bf30a154fa6b6") +(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'YawrateCommand))) + "Returns md5sum for a message object of type 'YawrateCommand" + "d8d2a0a1e3daa0fc410bf30a154fa6b6") +(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '))) + "Returns full string definition for message of type '" + (cl:format cl:nil "Header header~%float32 turnrate~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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 'YawrateCommand))) + "Returns full string definition for message of type 'YawrateCommand" + (cl:format cl:nil "Header header~%float32 turnrate~%~%================================================================================~%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.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# 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:defmethod roslisp-msg-protocol:ros-message-to-list ((msg )) + "Converts a ROS message object to a list" + (cl:list 'YawrateCommand + (cl:cons ':header (header msg)) + (cl:cons ':turnrate (turnrate msg)) +)) diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package.lisp new file mode 100644 index 0000000..add115f --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package.lisp @@ -0,0 +1,47 @@ +(cl:defpackage hector_uav_msgs-msg + (:use ) + (:export + "" + "HEIGHTCOMMAND" + "" + "RAWMAGNETIC" + "" + "MOTORSTATUS" + "" + "VELOCITYXYCOMMAND" + "" + "ATTITUDECOMMAND" + "" + "RAWRC" + "" + "MOTORCOMMAND" + "" + "MOTORPWM" + "" + "YAWRATECOMMAND" + "" + "SUPPLY" + "" + "HEADINGCOMMAND" + "" + "COMPASS" + "" + "POSITIONXYCOMMAND" + "" + "VELOCITYZCOMMAND" + "" + "SERVOCOMMAND" + "" + "ALTIMETER" + "" + "RAWIMU" + "" + "RUDDERSCOMMAND" + "" + "THRUSTCOMMAND" + "" + "CONTROLLERSTATE" + "" + "RC" + )) + diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_Altimeter.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_Altimeter.lisp new file mode 100644 index 0000000..6564e9b --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_Altimeter.lisp @@ -0,0 +1,10 @@ +(cl:in-package hector_uav_msgs-msg) +(cl:export '(HEADER-VAL + HEADER + ALTITUDE-VAL + ALTITUDE + PRESSURE-VAL + PRESSURE + QNH-VAL + QNH +)) \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_AttitudeCommand.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_AttitudeCommand.lisp new file mode 100644 index 0000000..92a2d76 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_AttitudeCommand.lisp @@ -0,0 +1,8 @@ +(cl:in-package hector_uav_msgs-msg) +(cl:export '(HEADER-VAL + HEADER + ROLL-VAL + ROLL + PITCH-VAL + PITCH +)) \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_Compass.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_Compass.lisp new file mode 100644 index 0000000..5d6db96 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_Compass.lisp @@ -0,0 +1,8 @@ +(cl:in-package hector_uav_msgs-msg) +(cl:export '(HEADER-VAL + HEADER + MAGNETIC_HEADING-VAL + MAGNETIC_HEADING + DECLINATION-VAL + DECLINATION +)) \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_ControllerState.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_ControllerState.lisp new file mode 100644 index 0000000..fde9129 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_ControllerState.lisp @@ -0,0 +1,10 @@ +(cl:in-package hector_uav_msgs-msg) +(cl:export '(HEADER-VAL + HEADER + SOURCE-VAL + SOURCE + MODE-VAL + MODE + STATE-VAL + STATE +)) \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_HeadingCommand.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_HeadingCommand.lisp new file mode 100644 index 0000000..bfe482f --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_HeadingCommand.lisp @@ -0,0 +1,6 @@ +(cl:in-package hector_uav_msgs-msg) +(cl:export '(HEADER-VAL + HEADER + HEADING-VAL + HEADING +)) \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_HeightCommand.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_HeightCommand.lisp new file mode 100644 index 0000000..f2f95bd --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_HeightCommand.lisp @@ -0,0 +1,6 @@ +(cl:in-package hector_uav_msgs-msg) +(cl:export '(HEADER-VAL + HEADER + HEIGHT-VAL + HEIGHT +)) \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_MotorCommand.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_MotorCommand.lisp new file mode 100644 index 0000000..5295212 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_MotorCommand.lisp @@ -0,0 +1,12 @@ +(cl:in-package hector_uav_msgs-msg) +(cl:export '(HEADER-VAL + HEADER + FORCE-VAL + FORCE + TORQUE-VAL + TORQUE + FREQUENCY-VAL + FREQUENCY + VOLTAGE-VAL + VOLTAGE +)) \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_MotorPWM.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_MotorPWM.lisp new file mode 100644 index 0000000..eac02b3 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_MotorPWM.lisp @@ -0,0 +1,6 @@ +(cl:in-package hector_uav_msgs-msg) +(cl:export '(HEADER-VAL + HEADER + PWM-VAL + PWM +)) \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_MotorStatus.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_MotorStatus.lisp new file mode 100644 index 0000000..ec8e516 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_MotorStatus.lisp @@ -0,0 +1,14 @@ +(cl:in-package hector_uav_msgs-msg) +(cl:export '(HEADER-VAL + HEADER + ON-VAL + ON + RUNNING-VAL + RUNNING + VOLTAGE-VAL + VOLTAGE + FREQUENCY-VAL + FREQUENCY + CURRENT-VAL + CURRENT +)) \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_PositionXYCommand.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_PositionXYCommand.lisp new file mode 100644 index 0000000..98ee271 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_PositionXYCommand.lisp @@ -0,0 +1,8 @@ +(cl:in-package hector_uav_msgs-msg) +(cl:export '(HEADER-VAL + HEADER + X-VAL + X + Y-VAL + Y +)) \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_RC.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_RC.lisp new file mode 100644 index 0000000..a56da05 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_RC.lisp @@ -0,0 +1,16 @@ +(cl:in-package hector_uav_msgs-msg) +(cl:export '(HEADER-VAL + HEADER + STATUS-VAL + STATUS + VALID-VAL + VALID + AXIS-VAL + AXIS + AXIS_FUNCTION-VAL + AXIS_FUNCTION + SWIT-VAL + SWIT + SWIT_FUNCTION-VAL + SWIT_FUNCTION +)) \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_RawImu.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_RawImu.lisp new file mode 100644 index 0000000..78b3be5 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_RawImu.lisp @@ -0,0 +1,8 @@ +(cl:in-package hector_uav_msgs-msg) +(cl:export '(HEADER-VAL + HEADER + ANGULAR_VELOCITY-VAL + ANGULAR_VELOCITY + LINEAR_ACCELERATION-VAL + LINEAR_ACCELERATION +)) \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_RawMagnetic.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_RawMagnetic.lisp new file mode 100644 index 0000000..12b836d --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_RawMagnetic.lisp @@ -0,0 +1,6 @@ +(cl:in-package hector_uav_msgs-msg) +(cl:export '(HEADER-VAL + HEADER + CHANNEL-VAL + CHANNEL +)) \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_RawRC.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_RawRC.lisp new file mode 100644 index 0000000..69217bc --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_RawRC.lisp @@ -0,0 +1,8 @@ +(cl:in-package hector_uav_msgs-msg) +(cl:export '(HEADER-VAL + HEADER + STATUS-VAL + STATUS + CHANNEL-VAL + CHANNEL +)) \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_RuddersCommand.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_RuddersCommand.lisp new file mode 100644 index 0000000..84e1a96 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_RuddersCommand.lisp @@ -0,0 +1,10 @@ +(cl:in-package hector_uav_msgs-msg) +(cl:export '(HEADER-VAL + HEADER + AILERON-VAL + AILERON + ELEVATOR-VAL + ELEVATOR + RUDDER-VAL + RUDDER +)) \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_ServoCommand.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_ServoCommand.lisp new file mode 100644 index 0000000..8b88bc9 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_ServoCommand.lisp @@ -0,0 +1,6 @@ +(cl:in-package hector_uav_msgs-msg) +(cl:export '(HEADER-VAL + HEADER + VALUE-VAL + VALUE +)) \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_Supply.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_Supply.lisp new file mode 100644 index 0000000..5b6880a --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_Supply.lisp @@ -0,0 +1,8 @@ +(cl:in-package hector_uav_msgs-msg) +(cl:export '(HEADER-VAL + HEADER + VOLTAGE-VAL + VOLTAGE + CURRENT-VAL + CURRENT +)) \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_ThrustCommand.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_ThrustCommand.lisp new file mode 100644 index 0000000..f593851 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_ThrustCommand.lisp @@ -0,0 +1,6 @@ +(cl:in-package hector_uav_msgs-msg) +(cl:export '(HEADER-VAL + HEADER + THRUST-VAL + THRUST +)) \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_VelocityXYCommand.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_VelocityXYCommand.lisp new file mode 100644 index 0000000..98ee271 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_VelocityXYCommand.lisp @@ -0,0 +1,8 @@ +(cl:in-package hector_uav_msgs-msg) +(cl:export '(HEADER-VAL + HEADER + X-VAL + X + Y-VAL + Y +)) \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_VelocityZCommand.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_VelocityZCommand.lisp new file mode 100644 index 0000000..a250625 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_VelocityZCommand.lisp @@ -0,0 +1,6 @@ +(cl:in-package hector_uav_msgs-msg) +(cl:export '(HEADER-VAL + HEADER + Z-VAL + Z +)) \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_YawrateCommand.lisp b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_YawrateCommand.lisp new file mode 100644 index 0000000..2090a28 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/_package_YawrateCommand.lisp @@ -0,0 +1,6 @@ +(cl:in-package hector_uav_msgs-msg) +(cl:export '(HEADER-VAL + HEADER + TURNRATE-VAL + TURNRATE +)) \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/hector_uav_msgs-msg.asd b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/hector_uav_msgs-msg.asd new file mode 100644 index 0000000..2ad4a88 --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/msg_gen/lisp/hector_uav_msgs-msg.asd @@ -0,0 +1,50 @@ + +(cl:in-package :asdf) + +(defsystem "hector_uav_msgs-msg" + :depends-on (:roslisp-msg-protocol :roslisp-utils :std_msgs-msg +) + :components ((:file "_package") + (:file "HeightCommand" :depends-on ("_package_HeightCommand")) + (:file "_package_HeightCommand" :depends-on ("_package")) + (:file "RawMagnetic" :depends-on ("_package_RawMagnetic")) + (:file "_package_RawMagnetic" :depends-on ("_package")) + (:file "MotorStatus" :depends-on ("_package_MotorStatus")) + (:file "_package_MotorStatus" :depends-on ("_package")) + (:file "VelocityXYCommand" :depends-on ("_package_VelocityXYCommand")) + (:file "_package_VelocityXYCommand" :depends-on ("_package")) + (:file "AttitudeCommand" :depends-on ("_package_AttitudeCommand")) + (:file "_package_AttitudeCommand" :depends-on ("_package")) + (:file "RawRC" :depends-on ("_package_RawRC")) + (:file "_package_RawRC" :depends-on ("_package")) + (:file "MotorCommand" :depends-on ("_package_MotorCommand")) + (:file "_package_MotorCommand" :depends-on ("_package")) + (:file "MotorPWM" :depends-on ("_package_MotorPWM")) + (:file "_package_MotorPWM" :depends-on ("_package")) + (:file "YawrateCommand" :depends-on ("_package_YawrateCommand")) + (:file "_package_YawrateCommand" :depends-on ("_package")) + (:file "Supply" :depends-on ("_package_Supply")) + (:file "_package_Supply" :depends-on ("_package")) + (:file "HeadingCommand" :depends-on ("_package_HeadingCommand")) + (:file "_package_HeadingCommand" :depends-on ("_package")) + (:file "Compass" :depends-on ("_package_Compass")) + (:file "_package_Compass" :depends-on ("_package")) + (:file "PositionXYCommand" :depends-on ("_package_PositionXYCommand")) + (:file "_package_PositionXYCommand" :depends-on ("_package")) + (:file "VelocityZCommand" :depends-on ("_package_VelocityZCommand")) + (:file "_package_VelocityZCommand" :depends-on ("_package")) + (:file "ServoCommand" :depends-on ("_package_ServoCommand")) + (:file "_package_ServoCommand" :depends-on ("_package")) + (:file "Altimeter" :depends-on ("_package_Altimeter")) + (:file "_package_Altimeter" :depends-on ("_package")) + (:file "RawImu" :depends-on ("_package_RawImu")) + (:file "_package_RawImu" :depends-on ("_package")) + (:file "RuddersCommand" :depends-on ("_package_RuddersCommand")) + (:file "_package_RuddersCommand" :depends-on ("_package")) + (:file "ThrustCommand" :depends-on ("_package_ThrustCommand")) + (:file "_package_ThrustCommand" :depends-on ("_package")) + (:file "ControllerState" :depends-on ("_package_ControllerState")) + (:file "_package_ControllerState" :depends-on ("_package")) + (:file "RC" :depends-on ("_package_RC")) + (:file "_package_RC" :depends-on ("_package")) + )) \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/src/hector_uav_msgs/__init__.py b/ROS-groovy/hector_quadrotor/hector_uav_msgs/src/hector_uav_msgs/__init__.py new file mode 100644 index 0000000..b23e43d --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/src/hector_uav_msgs/__init__.py @@ -0,0 +1 @@ +#autogenerated by ROS python message generators \ No newline at end of file diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/src/hector_uav_msgs/__init__.pyc b/ROS-groovy/hector_quadrotor/hector_uav_msgs/src/hector_uav_msgs/__init__.pyc new file mode 100644 index 0000000..532c9f1 Binary files /dev/null and b/ROS-groovy/hector_quadrotor/hector_uav_msgs/src/hector_uav_msgs/__init__.pyc differ diff --git a/ROS-groovy/hector_quadrotor/hector_uav_msgs/src/hector_uav_msgs/msg/_Altimeter.py b/ROS-groovy/hector_quadrotor/hector_uav_msgs/src/hector_uav_msgs/msg/_Altimeter.py new file mode 100644 index 0000000..945ee6f --- /dev/null +++ b/ROS-groovy/hector_quadrotor/hector_uav_msgs/src/hector_uav_msgs/msg/_Altimeter.py @@ -0,0 +1,180 @@ +"""autogenerated by genpy from hector_uav_msgs/Altimeter.msg. Do not edit.""" +import sys +python3 = True if sys.hexversion > 0x03000000 else False +import genpy +import struct + +import std_msgs.msg + +class Altimeter(genpy.Message): + _md5sum = "c785451e2f67a76b902818138e9b53c6" + _type = "hector_uav_msgs/Altimeter" + _has_header = True #flag to mark the presence of a Header object + _full_text = """Header header +float32 altitude +float32 pressure +float32 qnh + +================================================================================ +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.secs: seconds (stamp_secs) since epoch +# * stamp.nsecs: nanoseconds since stamp_secs +# 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 + +""" + __slots__ = ['header','altitude','pressure','qnh'] + _slot_types = ['std_msgs/Header','float32','float32','float32'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + header,altitude,pressure,qnh + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(Altimeter, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.header is None: + self.header = std_msgs.msg.Header() + if self.altitude is None: + self.altitude = 0. + if self.pressure is None: + self.pressure = 0. + if self.qnh is None: + self.qnh = 0. + else: + self.header = std_msgs.msg.Header() + self.altitude = 0. + self.pressure = 0. + self.qnh = 0. + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) + _x = self.header.frame_id + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.pack(' 0x03000000 else False +import genpy +import struct + +import std_msgs.msg + +class AttitudeCommand(genpy.Message): + _md5sum = "cceacd88dad80f3e3fd1466d24264ec6" + _type = "hector_uav_msgs/AttitudeCommand" + _has_header = True #flag to mark the presence of a Header object + _full_text = """Header header +float32 roll +float32 pitch + +================================================================================ +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.secs: seconds (stamp_secs) since epoch +# * stamp.nsecs: nanoseconds since stamp_secs +# 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 + +""" + __slots__ = ['header','roll','pitch'] + _slot_types = ['std_msgs/Header','float32','float32'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + header,roll,pitch + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(AttitudeCommand, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.header is None: + self.header = std_msgs.msg.Header() + if self.roll is None: + self.roll = 0. + if self.pitch is None: + self.pitch = 0. + else: + self.header = std_msgs.msg.Header() + self.roll = 0. + self.pitch = 0. + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) + _x = self.header.frame_id + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.pack(' 0x03000000 else False +import genpy +import struct + +import std_msgs.msg + +class Compass(genpy.Message): + _md5sum = "69b5db73a2f794a5a815baf6b84a4be5" + _type = "hector_uav_msgs/Compass" + _has_header = True #flag to mark the presence of a Header object + _full_text = """Header header +float32 magnetic_heading +float32 declination + + +================================================================================ +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.secs: seconds (stamp_secs) since epoch +# * stamp.nsecs: nanoseconds since stamp_secs +# 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 + +""" + __slots__ = ['header','magnetic_heading','declination'] + _slot_types = ['std_msgs/Header','float32','float32'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + header,magnetic_heading,declination + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(Compass, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.header is None: + self.header = std_msgs.msg.Header() + if self.magnetic_heading is None: + self.magnetic_heading = 0. + if self.declination is None: + self.declination = 0. + else: + self.header = std_msgs.msg.Header() + self.magnetic_heading = 0. + self.declination = 0. + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) + _x = self.header.frame_id + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.pack(' 0x03000000 else False +import genpy +import struct + +import std_msgs.msg + +class ControllerState(genpy.Message): + _md5sum = "a0f668496c9bbf505c01f59674f2a0c2" + _type = "hector_uav_msgs/ControllerState" + _has_header = True #flag to mark the presence of a Header object + _full_text = """Header header +uint8 source + +uint8 mode +uint8 MOTORS = 1 +uint8 ATTITUDE = 2 +uint8 VELOCITY = 4 +uint8 POSITION = 8 +uint8 HEADING = 16 +uint8 HEIGHT = 32 + +uint8 state +uint8 MOTORS_RUNNING = 1 +uint8 AIRBORNE = 2 + +================================================================================ +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.secs: seconds (stamp_secs) since epoch +# * stamp.nsecs: nanoseconds since stamp_secs +# 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 + +""" + # Pseudo-constants + MOTORS = 1 + ATTITUDE = 2 + VELOCITY = 4 + POSITION = 8 + HEADING = 16 + HEIGHT = 32 + MOTORS_RUNNING = 1 + AIRBORNE = 2 + + __slots__ = ['header','source','mode','state'] + _slot_types = ['std_msgs/Header','uint8','uint8','uint8'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + header,source,mode,state + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(ControllerState, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.header is None: + self.header = std_msgs.msg.Header() + if self.source is None: + self.source = 0 + if self.mode is None: + self.mode = 0 + if self.state is None: + self.state = 0 + else: + self.header = std_msgs.msg.Header() + self.source = 0 + self.mode = 0 + self.state = 0 + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) + _x = self.header.frame_id + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.pack(' 0x03000000 else False +import genpy +import struct + +import std_msgs.msg + +class HeadingCommand(genpy.Message): + _md5sum = "bbd082d3b4bc79a5314bb6f95aaedc70" + _type = "hector_uav_msgs/HeadingCommand" + _has_header = True #flag to mark the presence of a Header object + _full_text = """Header header +float32 heading + +================================================================================ +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.secs: seconds (stamp_secs) since epoch +# * stamp.nsecs: nanoseconds since stamp_secs +# 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 + +""" + __slots__ = ['header','heading'] + _slot_types = ['std_msgs/Header','float32'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + header,heading + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(HeadingCommand, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.header is None: + self.header = std_msgs.msg.Header() + if self.heading is None: + self.heading = 0. + else: + self.header = std_msgs.msg.Header() + self.heading = 0. + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) + _x = self.header.frame_id + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.pack(' 0x03000000 else False +import genpy +import struct + +import std_msgs.msg + +class HeightCommand(genpy.Message): + _md5sum = "8c63aeb4f8d9305792b3627c1e7a1ab1" + _type = "hector_uav_msgs/HeightCommand" + _has_header = True #flag to mark the presence of a Header object + _full_text = """Header header +float32 height + +================================================================================ +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.secs: seconds (stamp_secs) since epoch +# * stamp.nsecs: nanoseconds since stamp_secs +# 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 + +""" + __slots__ = ['header','height'] + _slot_types = ['std_msgs/Header','float32'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + header,height + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(HeightCommand, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.header is None: + self.header = std_msgs.msg.Header() + if self.height is None: + self.height = 0. + else: + self.header = std_msgs.msg.Header() + self.height = 0. + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) + _x = self.header.frame_id + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.pack(' 0x03000000 else False +import genpy +import struct + +import std_msgs.msg + +class MotorCommand(genpy.Message): + _md5sum = "ccd4d4d4606731d1c73409e9bfa55808" + _type = "hector_uav_msgs/MotorCommand" + _has_header = True #flag to mark the presence of a Header object + _full_text = """Header header +float32[] force +float32[] torque +float32[] frequency +float32[] voltage + +================================================================================ +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.secs: seconds (stamp_secs) since epoch +# * stamp.nsecs: nanoseconds since stamp_secs +# 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 + +""" + __slots__ = ['header','force','torque','frequency','voltage'] + _slot_types = ['std_msgs/Header','float32[]','float32[]','float32[]','float32[]'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + header,force,torque,frequency,voltage + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(MotorCommand, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.header is None: + self.header = std_msgs.msg.Header() + if self.force is None: + self.force = [] + if self.torque is None: + self.torque = [] + if self.frequency is None: + self.frequency = [] + if self.voltage is None: + self.voltage = [] + else: + self.header = std_msgs.msg.Header() + self.force = [] + self.torque = [] + self.frequency = [] + self.voltage = [] + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) + _x = self.header.frame_id + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.pack(' 0x03000000 else False +import genpy +import struct + +import std_msgs.msg + +class MotorPWM(genpy.Message): + _md5sum = "42f78dd80f99e0208248b8a257b8a645" + _type = "hector_uav_msgs/MotorPWM" + _has_header = True #flag to mark the presence of a Header object + _full_text = """Header header +uint8[] pwm + +================================================================================ +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.secs: seconds (stamp_secs) since epoch +# * stamp.nsecs: nanoseconds since stamp_secs +# 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 + +""" + __slots__ = ['header','pwm'] + _slot_types = ['std_msgs/Header','uint8[]'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + header,pwm + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(MotorPWM, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.header is None: + self.header = std_msgs.msg.Header() + if self.pwm is None: + self.pwm = '' + else: + self.header = std_msgs.msg.Header() + self.pwm = '' + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) + _x = self.header.frame_id + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.pack(' 0x03000000 else False +import genpy +import struct + +import std_msgs.msg + +class MotorStatus(genpy.Message): + _md5sum = "d771017cd812838d32da48fbe32b0928" + _type = "hector_uav_msgs/MotorStatus" + _has_header = True #flag to mark the presence of a Header object + _full_text = """Header header +bool on +bool running +float32[] voltage +float32[] frequency +float32[] current + + +================================================================================ +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.secs: seconds (stamp_secs) since epoch +# * stamp.nsecs: nanoseconds since stamp_secs +# 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 + +""" + __slots__ = ['header','on','running','voltage','frequency','current'] + _slot_types = ['std_msgs/Header','bool','bool','float32[]','float32[]','float32[]'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + header,on,running,voltage,frequency,current + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(MotorStatus, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.header is None: + self.header = std_msgs.msg.Header() + if self.on is None: + self.on = False + if self.running is None: + self.running = False + if self.voltage is None: + self.voltage = [] + if self.frequency is None: + self.frequency = [] + if self.current is None: + self.current = [] + else: + self.header = std_msgs.msg.Header() + self.on = False + self.running = False + self.voltage = [] + self.frequency = [] + self.current = [] + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) + _x = self.header.frame_id + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.pack(' 0x03000000 else False +import genpy +import struct + +import std_msgs.msg + +class PositionXYCommand(genpy.Message): + _md5sum = "7b4d52af2aa98221d9bb260976d6a201" + _type = "hector_uav_msgs/PositionXYCommand" + _has_header = True #flag to mark the presence of a Header object + _full_text = """Header header +float32 x +float32 y + +================================================================================ +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.secs: seconds (stamp_secs) since epoch +# * stamp.nsecs: nanoseconds since stamp_secs +# 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 + +""" + __slots__ = ['header','x','y'] + _slot_types = ['std_msgs/Header','float32','float32'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + header,x,y + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(PositionXYCommand, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.header is None: + self.header = std_msgs.msg.Header() + if self.x is None: + self.x = 0. + if self.y is None: + self.y = 0. + else: + self.header = std_msgs.msg.Header() + self.x = 0. + self.y = 0. + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) + _x = self.header.frame_id + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.pack(' 0x03000000 else False +import genpy +import struct + +import std_msgs.msg + +class RC(genpy.Message): + _md5sum = "2691c2fe8c5ab2323146bdd8dd2e449e" + _type = "hector_uav_msgs/RC" + _has_header = True #flag to mark the presence of a Header object + _full_text = """Header header + +uint8 ROLL = 1 +uint8 PITCH = 2 +uint8 YAW = 3 +uint8 STEER = 4 +uint8 HEIGHT = 5 +uint8 THRUST = 6 +uint8 BRAKE = 7 + +uint8 status +bool valid + +float32[] axis +uint8[] axis_function + +int8[] swit +uint8[] swit_function + +================================================================================ +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.secs: seconds (stamp_secs) since epoch +# * stamp.nsecs: nanoseconds since stamp_secs +# 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 + +""" + # Pseudo-constants + ROLL = 1 + PITCH = 2 + YAW = 3 + STEER = 4 + HEIGHT = 5 + THRUST = 6 + BRAKE = 7 + + __slots__ = ['header','status','valid','axis','axis_function','swit','swit_function'] + _slot_types = ['std_msgs/Header','uint8','bool','float32[]','uint8[]','int8[]','uint8[]'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + header,status,valid,axis,axis_function,swit,swit_function + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(RC, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.header is None: + self.header = std_msgs.msg.Header() + if self.status is None: + self.status = 0 + if self.valid is None: + self.valid = False + if self.axis is None: + self.axis = [] + if self.axis_function is None: + self.axis_function = '' + if self.swit is None: + self.swit = [] + if self.swit_function is None: + self.swit_function = '' + else: + self.header = std_msgs.msg.Header() + self.status = 0 + self.valid = False + self.axis = [] + self.axis_function = '' + self.swit = [] + self.swit_function = '' + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) + _x = self.header.frame_id + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.pack(' 0x03000000 else False +import genpy +import struct + +import std_msgs.msg + +class RawImu(genpy.Message): + _md5sum = "0879a838e899792bcf72ccfe7b5595ef" + _type = "hector_uav_msgs/RawImu" + _has_header = True #flag to mark the presence of a Header object + _full_text = """Header header +uint16[3] angular_velocity +uint16[3] linear_acceleration + +================================================================================ +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.secs: seconds (stamp_secs) since epoch +# * stamp.nsecs: nanoseconds since stamp_secs +# 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 + +""" + __slots__ = ['header','angular_velocity','linear_acceleration'] + _slot_types = ['std_msgs/Header','uint16[3]','uint16[3]'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + header,angular_velocity,linear_acceleration + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(RawImu, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.header is None: + self.header = std_msgs.msg.Header() + if self.angular_velocity is None: + self.angular_velocity = [0,0,0] + if self.linear_acceleration is None: + self.linear_acceleration = [0,0,0] + else: + self.header = std_msgs.msg.Header() + self.angular_velocity = [0,0,0] + self.linear_acceleration = [0,0,0] + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) + _x = self.header.frame_id + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.pack(' 0x03000000 else False +import genpy +import struct + +import std_msgs.msg + +class RawMagnetic(genpy.Message): + _md5sum = "babd510868ac7b486e2097c79e1384c9" + _type = "hector_uav_msgs/RawMagnetic" + _has_header = True #flag to mark the presence of a Header object + _full_text = """Header header +float64[3] channel + +================================================================================ +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.secs: seconds (stamp_secs) since epoch +# * stamp.nsecs: nanoseconds since stamp_secs +# 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 + +""" + __slots__ = ['header','channel'] + _slot_types = ['std_msgs/Header','float64[3]'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + header,channel + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(RawMagnetic, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.header is None: + self.header = std_msgs.msg.Header() + if self.channel is None: + self.channel = [0.,0.,0.] + else: + self.header = std_msgs.msg.Header() + self.channel = [0.,0.,0.] + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) + _x = self.header.frame_id + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.pack(' 0x03000000 else False +import genpy +import struct + +import std_msgs.msg + +class RawRC(genpy.Message): + _md5sum = "f1584488325f747abea0b77036f70e2c" + _type = "hector_uav_msgs/RawRC" + _has_header = True #flag to mark the presence of a Header object + _full_text = """Header header +uint8 status +uint16[] channel + +================================================================================ +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.secs: seconds (stamp_secs) since epoch +# * stamp.nsecs: nanoseconds since stamp_secs +# 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 + +""" + __slots__ = ['header','status','channel'] + _slot_types = ['std_msgs/Header','uint8','uint16[]'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + header,status,channel + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(RawRC, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.header is None: + self.header = std_msgs.msg.Header() + if self.status is None: + self.status = 0 + if self.channel is None: + self.channel = [] + else: + self.header = std_msgs.msg.Header() + self.status = 0 + self.channel = [] + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) + _x = self.header.frame_id + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.pack(' 0x03000000 else False +import genpy +import struct + +import std_msgs.msg + +class RuddersCommand(genpy.Message): + _md5sum = "2e136cb8cfffc2233e404b320c27bca6" + _type = "hector_uav_msgs/RuddersCommand" + _has_header = True #flag to mark the presence of a Header object + _full_text = """Header header +float32 aileron +float32 elevator +float32 rudder + +================================================================================ +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.secs: seconds (stamp_secs) since epoch +# * stamp.nsecs: nanoseconds since stamp_secs +# 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 + +""" + __slots__ = ['header','aileron','elevator','rudder'] + _slot_types = ['std_msgs/Header','float32','float32','float32'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + header,aileron,elevator,rudder + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(RuddersCommand, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.header is None: + self.header = std_msgs.msg.Header() + if self.aileron is None: + self.aileron = 0. + if self.elevator is None: + self.elevator = 0. + if self.rudder is None: + self.rudder = 0. + else: + self.header = std_msgs.msg.Header() + self.aileron = 0. + self.elevator = 0. + self.rudder = 0. + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) + _x = self.header.frame_id + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.pack(' 0x03000000 else False +import genpy +import struct + +import std_msgs.msg + +class ServoCommand(genpy.Message): + _md5sum = "d60ef35d4e3412dc6686b189be2523d0" + _type = "hector_uav_msgs/ServoCommand" + _has_header = True #flag to mark the presence of a Header object + _full_text = """Header header +uint16[] value + +================================================================================ +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.secs: seconds (stamp_secs) since epoch +# * stamp.nsecs: nanoseconds since stamp_secs +# 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 + +""" + __slots__ = ['header','value'] + _slot_types = ['std_msgs/Header','uint16[]'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + header,value + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(ServoCommand, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.header is None: + self.header = std_msgs.msg.Header() + if self.value is None: + self.value = [] + else: + self.header = std_msgs.msg.Header() + self.value = [] + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) + _x = self.header.frame_id + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.pack(' 0x03000000 else False +import genpy +import struct + +import std_msgs.msg + +class Supply(genpy.Message): + _md5sum = "26f5225a2b836fba706a87e45759fdfc" + _type = "hector_uav_msgs/Supply" + _has_header = True #flag to mark the presence of a Header object + _full_text = """Header header +float32[] voltage +float32[] current + +================================================================================ +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.secs: seconds (stamp_secs) since epoch +# * stamp.nsecs: nanoseconds since stamp_secs +# 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 + +""" + __slots__ = ['header','voltage','current'] + _slot_types = ['std_msgs/Header','float32[]','float32[]'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + header,voltage,current + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(Supply, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.header is None: + self.header = std_msgs.msg.Header() + if self.voltage is None: + self.voltage = [] + if self.current is None: + self.current = [] + else: + self.header = std_msgs.msg.Header() + self.voltage = [] + self.current = [] + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) + _x = self.header.frame_id + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.pack(' 0x03000000 else False +import genpy +import struct + +import std_msgs.msg + +class ThrustCommand(genpy.Message): + _md5sum = "c61da3a8868a8b502eaf0b0abd839f57" + _type = "hector_uav_msgs/ThrustCommand" + _has_header = True #flag to mark the presence of a Header object + _full_text = """Header header +float32 thrust + +================================================================================ +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.secs: seconds (stamp_secs) since epoch +# * stamp.nsecs: nanoseconds since stamp_secs +# 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 + +""" + __slots__ = ['header','thrust'] + _slot_types = ['std_msgs/Header','float32'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + header,thrust + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(ThrustCommand, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.header is None: + self.header = std_msgs.msg.Header() + if self.thrust is None: + self.thrust = 0. + else: + self.header = std_msgs.msg.Header() + self.thrust = 0. + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) + _x = self.header.frame_id + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.pack(' 0x03000000 else False +import genpy +import struct + +import std_msgs.msg + +class VelocityXYCommand(genpy.Message): + _md5sum = "7b4d52af2aa98221d9bb260976d6a201" + _type = "hector_uav_msgs/VelocityXYCommand" + _has_header = True #flag to mark the presence of a Header object + _full_text = """Header header +float32 x +float32 y + +================================================================================ +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.secs: seconds (stamp_secs) since epoch +# * stamp.nsecs: nanoseconds since stamp_secs +# 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 + +""" + __slots__ = ['header','x','y'] + _slot_types = ['std_msgs/Header','float32','float32'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + header,x,y + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(VelocityXYCommand, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.header is None: + self.header = std_msgs.msg.Header() + if self.x is None: + self.x = 0. + if self.y is None: + self.y = 0. + else: + self.header = std_msgs.msg.Header() + self.x = 0. + self.y = 0. + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) + _x = self.header.frame_id + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.pack(' 0x03000000 else False +import genpy +import struct + +import std_msgs.msg + +class VelocityZCommand(genpy.Message): + _md5sum = "68efb57c1ccbb065338578afbfc54ec5" + _type = "hector_uav_msgs/VelocityZCommand" + _has_header = True #flag to mark the presence of a Header object + _full_text = """Header header +float32 z + +================================================================================ +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.secs: seconds (stamp_secs) since epoch +# * stamp.nsecs: nanoseconds since stamp_secs +# 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 + +""" + __slots__ = ['header','z'] + _slot_types = ['std_msgs/Header','float32'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + header,z + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(VelocityZCommand, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.header is None: + self.header = std_msgs.msg.Header() + if self.z is None: + self.z = 0. + else: + self.header = std_msgs.msg.Header() + self.z = 0. + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) + _x = self.header.frame_id + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.pack(' 0x03000000 else False +import genpy +import struct + +import std_msgs.msg + +class YawrateCommand(genpy.Message): + _md5sum = "d8d2a0a1e3daa0fc410bf30a154fa6b6" + _type = "hector_uav_msgs/YawrateCommand" + _has_header = True #flag to mark the presence of a Header object + _full_text = """Header header +float32 turnrate + +================================================================================ +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.secs: seconds (stamp_secs) since epoch +# * stamp.nsecs: nanoseconds since stamp_secs +# 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 + +""" + __slots__ = ['header','turnrate'] + _slot_types = ['std_msgs/Header','float32'] + + def __init__(self, *args, **kwds): + """ + Constructor. Any message fields that are implicitly/explicitly + set to None will be assigned a default value. The recommend + use is keyword arguments as this is more robust to future message + changes. You cannot mix in-order arguments and keyword arguments. + + The available fields are: + header,turnrate + + :param args: complete set of field values, in .msg order + :param kwds: use keyword arguments corresponding to message field names + to set specific fields. + """ + if args or kwds: + super(YawrateCommand, self).__init__(*args, **kwds) + #message fields cannot be None, assign default values for those that are + if self.header is None: + self.header = std_msgs.msg.Header() + if self.turnrate is None: + self.turnrate = 0. + else: + self.header = std_msgs.msg.Header() + self.turnrate = 0. + + def _get_types(self): + """ + internal API method + """ + return self._slot_types + + def serialize(self, buff): + """ + serialize message into buffer + :param buff: buffer, ``StringIO`` + """ + try: + _x = self + buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs)) + _x = self.header.frame_id + length = len(_x) + if python3 or type(_x) == unicode: + _x = _x.encode('utf-8') + length = len(_x) + buff.write(struct.pack(' + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + 10 + 0 0 0 0 0 0 + false + + + + 3 + 1 + -0.349065850399 + 0.349065850399 + + + 3 + 1 + -0.349065850399 + 0.349065850399 + + + + 0.03 + 3.0 + 0.01 + + + + 0.005 + sonar_height + sonar_link + + + + + false + + base_link + + + 100.0 + base_link + raw_imu + 0 0 0 + + 0 + + 0.5 0.5 0.5 + 0.35 0.35 0.3 + 0.1 0.1 0.1 + 0.05 0.05 0.015 + 0.1 + 0.05 + + + 10.0 + base_link + pressure_height + altimeter + 0 + 0.1 + 0.1 + + + 10.0 + base_link + magnetic + 0 0 0 + 0.0 0.0 0.0 + 1.3e-2 1.3e-2 1.3e-2 + + + 4.0 + base_link + fix + fix_velocity + 5.0 5.0 5.0 + 0.01 0.01 0.01 + 0 0 0 + 0.05 0.05 0.05 + + + 100.0 + base_link + ground_truth/state + 0.0 + map + + + true + 1000.0 + + + + + true + 0.0 + base_link + cmd_vel + ground_truth/state + raw_imu + 10.0 + 5.0 + 0.5 + 2.0 + 1.0 + 1.5 + 5.0 + 1.0 + 5 + 5.0 + 1.0 + 2 + 30 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + 20 + + 1.0471975512 + + R8G8B8 + 640 + 480 + + + 0.05 + 3 + + + + true + 20 + camera/rgb/image_raw + camera/rgb/camera_info + camera/depth/image_raw + camera/depth/camera_info + camera/depth/points + camera_depth_optical_frame + 0.0 + 0.0 + 0.0 + 0.0 + 0.0 + + + + + diff --git a/ROS-groovy/hector_quadrotor/stack.xml b/ROS-groovy/hector_quadrotor/stack.xml new file mode 100644 index 0000000..78ab9fd --- /dev/null +++ b/ROS-groovy/hector_quadrotor/stack.xml @@ -0,0 +1,15 @@ + + hector_quadrotor contains packages related to modeling, control and simulation of quadrotor UAV systems + Johannes Meyer and Stefan Kohlbrecher + BSD + + http://ros.org/wiki/hector_quadrotor + + + + + + + + + diff --git a/ROS-groovy/moveit_simple_controller_manager/.cproject b/ROS-groovy/moveit_simple_controller_manager/.cproject new file mode 100644 index 0000000..4c44c34 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/.cproject @@ -0,0 +1,857 @@ + + + + + + + + + + + + + + + + + + + /usr/bin/make + -j8 + _catkin_empty_exported_target + true + false + + + /usr/bin/make + -j8 + actionlib_generate_messages_cpp + true + false + + + /usr/bin/make + -j8 + actionlib_generate_messages_lisp + true + false + + + /usr/bin/make + -j8 + actionlib_generate_messages_py + true + false + + + /usr/bin/make + -j8 + actionlib_msgs_generate_messages_cpp + true + false + + + /usr/bin/make + -j8 + actionlib_msgs_generate_messages_lisp + true + false + + + /usr/bin/make + -j8 + actionlib_msgs_generate_messages_py + true + false + + + /usr/bin/make + -j8 + clean_test_results + true + false + + + /usr/bin/make + -j8 + control_msgs_generate_messages_cpp + true + false + + + /usr/bin/make + -j8 + control_msgs_generate_messages_lisp + true + false + + + /usr/bin/make + -j8 + control_msgs_generate_messages_py + true + false + + + /usr/bin/make + -j8 + doxygen + true + false + + + 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false + + + /usr/bin/make + -j8 + moveit_msgs_generate_messages_cpp + true + false + + + /usr/bin/make + -j8 + moveit_msgs_generate_messages_lisp + true + false + + + /usr/bin/make + -j8 + moveit_msgs_generate_messages_py + true + false + + + /usr/bin/make + -j8 + moveit_simple_controller_manager + true + false + + + /usr/bin/make + -j8 + moveit_simple_controller_manager/fast + true + false + + + /usr/bin/make + -C "/home/alessio/catkin_workspace/src/moveit_simple_controller_manager" -j8 + moveit_simple_controller_manager + true + false + + + /usr/bin/cmake + -E chdir "/home/alessio/catkin_workspace/src/moveit_simple_controller_manager" "/usr/bin/cmake" -P "CMakeFiles/moveit_simple_controller_manager.dir/cmake_clean.cmake" + + true + false + + + /usr/bin/make + -j8 + object_recognition_msgs_generate_messages_cpp + true + false + + + /usr/bin/make + -j8 + object_recognition_msgs_generate_messages_lisp + true + false + + + /usr/bin/make + -j8 + object_recognition_msgs_generate_messages_py + true + false + + + /usr/bin/make + -j8 + octomap_msgs_generate_messages_cpp + true + false + + + /usr/bin/make + -j8 + octomap_msgs_generate_messages_lisp + true + false + + + /usr/bin/make + -j8 + octomap_msgs_generate_messages_py + true + false + + + /usr/bin/make + -j8 + rebuild_cache + true + false + + + /usr/bin/make + -j8 + roscpp_generate_messages_cpp + true + false + + + /usr/bin/make + -j8 + roscpp_generate_messages_lisp + true + false + + + /usr/bin/make + -j8 + roscpp_generate_messages_py + true + false + + + /usr/bin/make + -j8 + rosgraph_msgs_generate_messages_cpp + true + false + + + /usr/bin/make + -j8 + rosgraph_msgs_generate_messages_lisp + true + false + + + /usr/bin/make + -j8 + rosgraph_msgs_generate_messages_py + true + false + + + /usr/bin/make + -j8 + run_tests + true + false + + + /usr/bin/make + -j8 + sensor_msgs_generate_messages_cpp + true + false + + + /usr/bin/make + -j8 + sensor_msgs_generate_messages_lisp + 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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS-groovy/moveit_simple_controller_manager/.project b/ROS-groovy/moveit_simple_controller_manager/.project new file mode 100644 index 0000000..ec84f11 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/.project @@ -0,0 +1,232 @@ + + + moveit_simple_controller_manager-Debug@moveit_simple_controller_manager + + + + + + org.eclipse.cdt.make.core.makeBuilder + clean,full,incremental, + + + org.eclipse.cdt.make.core.cleanBuildTarget + clean + + + org.eclipse.cdt.make.core.enableCleanBuild + true + + + org.eclipse.cdt.make.core.append_environment + true + + + org.eclipse.cdt.make.core.stopOnError + true + + + org.eclipse.cdt.make.core.enabledIncrementalBuild + true + + + org.eclipse.cdt.make.core.build.command + /usr/bin/make + + + org.eclipse.cdt.make.core.contents + org.eclipse.cdt.make.core.activeConfigSettings + + + org.eclipse.cdt.make.core.build.target.inc + all + + + org.eclipse.cdt.make.core.build.arguments + + + + org.eclipse.cdt.make.core.buildLocation + /home/alessio/catkin_workspace/src/moveit_simple_controller_manager + + + org.eclipse.cdt.make.core.useDefaultBuildCmd + false + + + org.eclipse.cdt.make.core.environment + VERBOSE=1|CMAKE_NO_VERBOSE=1| + + + org.eclipse.cdt.make.core.enableFullBuild + true + + + org.eclipse.cdt.make.core.build.target.auto + all + + + org.eclipse.cdt.make.core.enableAutoBuild + false + + + org.eclipse.cdt.make.core.build.target.clean + clean + + + org.eclipse.cdt.make.core.fullBuildTarget + all + + + org.eclipse.cdt.make.core.buildArguments + + + + org.eclipse.cdt.make.core.build.location + /home/alessio/catkin_workspace/src/moveit_simple_controller_manager + + + org.eclipse.cdt.make.core.autoBuildTarget + all + + + org.eclipse.cdt.core.errorOutputParser + org.eclipse.cdt.core.MakeErrorParser;org.eclipse.cdt.core.GCCErrorParser;org.eclipse.cdt.core.GASErrorParser;org.eclipse.cdt.core.GLDErrorParser; + + + + + org.eclipse.cdt.make.core.ScannerConfigBuilder + + + + + + org.eclipse.cdt.core.ccnature + org.eclipse.cdt.make.core.makeNature + org.eclipse.cdt.make.core.ScannerConfigNature + org.eclipse.cdt.core.cnature + + + + [Subprojects] + 2 + virtual:/virtual + + + [Subprojects]/gtest + 2 + /usr/src/gtest + + + [Targets] + 2 + virtual:/virtual + + + [Targets]/[lib] moveit_simple_controller_manager + 2 + virtual:/virtual + + + [Targets]/[lib] moveit_simple_controller_manager/ + 2 + virtual:/virtual + + + [Targets]/[lib] moveit_simple_controller_manager/Source Files + 2 + virtual:/virtual + + + [Targets]/[lib] moveit_simple_controller_manager/Source Files/moveit_simple_controller_manager.cpp + 1 + /home/alessio/catkin_workspace/src/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp + + + [Targets]/[lib] moveit_simple_controller_manager/Header Files + 2 + virtual:/virtual + + + [Targets]/[lib] moveit_simple_controller_manager/CMake Rules + 2 + virtual:/virtual + + + [Targets]/[lib] moveit_simple_controller_manager/Resources + 2 + virtual:/virtual + + + [Targets]/[lib] gtest + 2 + virtual:/virtual + + + [Targets]/[lib] gtest/ + 2 + virtual:/virtual + + + [Targets]/[lib] gtest/Source Files + 2 + virtual:/virtual + + + [Targets]/[lib] gtest/Source Files/gtest-all.cc + 1 + /usr/src/gtest/src/gtest-all.cc + + + [Targets]/[lib] gtest/Header Files + 2 + virtual:/virtual + + + [Targets]/[lib] gtest/CMake Rules + 2 + virtual:/virtual + + + [Targets]/[lib] gtest/Resources + 2 + virtual:/virtual + + + [Targets]/[lib] gtest_main + 2 + virtual:/virtual + + + [Targets]/[lib] gtest_main/ + 2 + virtual:/virtual + + + [Targets]/[lib] gtest_main/Source Files + 2 + virtual:/virtual + + + [Targets]/[lib] gtest_main/Source Files/gtest_main.cc + 1 + /usr/src/gtest/src/gtest_main.cc + + + [Targets]/[lib] gtest_main/Header Files + 2 + virtual:/virtual + + + [Targets]/[lib] gtest_main/CMake Rules + 2 + virtual:/virtual + + + [Targets]/[lib] gtest_main/Resources + 2 + virtual:/virtual + + + diff --git a/ROS-groovy/moveit_simple_controller_manager/CHANGELOG.rst b/ROS-groovy/moveit_simple_controller_manager/CHANGELOG.rst new file mode 100644 index 0000000..8c6faaf --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/CHANGELOG.rst @@ -0,0 +1,31 @@ +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ +Changelog for package moveit_simple_controller_manager +^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^ + +Forthcoming +----------- +* make headers and author definitions aligned the same way; white space fixes +* fix `#1 `_ + +0.5.1 (2013-07-30) +------------------ +* ns parameter is now action_ns, get rid of defaults + +0.5.0 (2013-07-16) +------------------ +* white space fixes (tabs are now spaces) + +0.4.1 (2013-07-03) +------------------ +* minor updates to package.xml + +0.4.0 (2013-06-06) +------------------ +* debs look good, bump to 0.4.0 + +0.1.0 (2013-06-05) +------------------ +* add metapackage, clean up build in controller manager +* remove the now dead loaded controller stuff +* break out follow/gripper into separate headers +* initial working version diff --git a/ROS-groovy/moveit_simple_controller_manager/CMakeCache.txt b/ROS-groovy/moveit_simple_controller_manager/CMakeCache.txt new file mode 100644 index 0000000..2743824 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/CMakeCache.txt @@ -0,0 +1,628 @@ +# This is the CMakeCache file. +# For build in directory: /home/alessio/catkin_workspace/src/moveit_simple_controller_manager +# It was generated by CMake: /usr/bin/cmake +# You can edit this file to change values found and used by cmake. +# If you do not want to change any of the values, simply exit the editor. +# If you do want to change a value, simply edit, save, and exit the editor. +# The syntax for the file is as follows: +# KEY:TYPE=VALUE +# KEY is the name of a variable in the cache. +# TYPE is a hint to GUI's for the type of VALUE, DO NOT EDIT TYPE!. +# VALUE is the current value for the KEY. + +######################## +# EXTERNAL cache entries +######################## + +//Build shared libraries (DLLs). +BUILD_SHARED_LIBS:BOOL=ON + +//The directory containing a CMake configuration file for Boost. +Boost_DIR:PATH=Boost_DIR-NOTFOUND + +//Path to a file. +Boost_INCLUDE_DIR:PATH=/usr/include + +//Boost library directory +Boost_LIBRARY_DIRS:FILEPATH=/usr/lib + +//The Boost THREAD library +Boost_THREAD_LIBRARY:FILEPATH=/usr/lib/libboost_thread-mt.so + +//Boost thread library (debug) +Boost_THREAD_LIBRARY_DEBUG:FILEPATH=/usr/lib/libboost_thread-mt.so + +//Boost thread library (release) +Boost_THREAD_LIBRARY_RELEASE:FILEPATH=/usr/lib/libboost_thread-mt.so + +//Catkin enable testing +CATKIN_ENABLE_TESTING:BOOL=ON + +//Prefix to apply to package generated via gendebian +CATKIN_PACKAGE_PREFIX:STRING= + +//Catkin skip testing +CATKIN_SKIP_TESTING:BOOL=OFF + +//Path to a program. +CMAKE_AR:FILEPATH=/usr/bin/ar + +//Choose the type of build, options are: None(CMAKE_CXX_FLAGS or +// CMAKE_C_FLAGS used) Debug Release RelWithDebInfo MinSizeRel. +CMAKE_BUILD_TYPE:STRING=Debug + +//Enable/Disable color output during build. +CMAKE_COLOR_MAKEFILE:BOOL=ON + +//CXX compiler. +CMAKE_CXX_COMPILER:FILEPATH=/usr/bin/c++ + +//Flags used by the compiler during all build types. +CMAKE_CXX_FLAGS:STRING= + +//Flags used by the compiler during debug builds. +CMAKE_CXX_FLAGS_DEBUG:STRING=-g + +//Flags used by the compiler during release minsize builds. +CMAKE_CXX_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the compiler during release builds (/MD /Ob1 /Oi +// /Ot /Oy /Gs will produce slightly less optimized but smaller +// files). +CMAKE_CXX_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the compiler during Release with Debug Info builds. +CMAKE_CXX_FLAGS_RELWITHDEBINFO:STRING=-O2 -g + +//C compiler. +CMAKE_C_COMPILER:FILEPATH=/usr/bin/gcc + +//Flags used by the compiler during all build types. +CMAKE_C_FLAGS:STRING= + +//Flags used by the compiler during debug builds. +CMAKE_C_FLAGS_DEBUG:STRING=-g + +//Flags used by the compiler during release minsize builds. +CMAKE_C_FLAGS_MINSIZEREL:STRING=-Os -DNDEBUG + +//Flags used by the compiler during release builds (/MD /Ob1 /Oi +// /Ot /Oy /Gs will produce slightly less optimized but smaller +// files). +CMAKE_C_FLAGS_RELEASE:STRING=-O3 -DNDEBUG + +//Flags used by the compiler during Release with Debug Info builds. +CMAKE_C_FLAGS_RELWITHDEBINFO:STRING=-O2 -g + +//The Eclipse executable +CMAKE_ECLIPSE_EXECUTABLE:FILEPATH=CMAKE_ECLIPSE_EXECUTABLE-NOTFOUND + +//If enabled, CMake will generate a source project for Eclipse +// in CMAKE_SOURCE_DIR +CMAKE_ECLIPSE_GENERATE_SOURCE_PROJECT:BOOL=FALSE + +//Additional command line arguments when Eclipse invokes make. +// Enter e.g. -j to get parallel builds +CMAKE_ECLIPSE_MAKE_ARGUMENTS:STRING=-j8 + +//The version of Eclipse. 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catkin. +catkin_DIR:PATH=/opt/ros/groovy/share/catkin/cmake + +//The directory containing a CMake configuration file for class_loader. +class_loader_DIR:PATH=/opt/ros/groovy/share/class_loader/cmake + +//The directory containing a CMake configuration file for collada_parser. +collada_parser_DIR:PATH=/opt/ros/groovy/share/collada_parser/cmake + +//The directory containing a CMake configuration file for console_bridge. +console_bridge_DIR:PATH=/opt/ros/groovy/share/console_bridge/cmake + +//The directory containing a CMake configuration file for control_msgs. +control_msgs_DIR:PATH=/opt/ros/groovy/share/control_msgs/cmake + +//The directory containing a CMake configuration file for cpp_common. +cpp_common_DIR:PATH=/opt/ros/groovy/share/cpp_common/cmake + +//The directory containing a CMake configuration file for eigen_conversions. +eigen_conversions_DIR:PATH=/opt/ros/groovy/share/eigen_conversions/cmake + +//The directory containing a CMake configuration file for eigen_stl_containers. +eigen_stl_containers_DIR:PATH=/opt/ros/groovy/share/eigen_stl_containers/cmake + +//The directory containing a CMake configuration file for gencpp. +gencpp_DIR:PATH=/opt/ros/groovy/share/gencpp/cmake + +//The directory containing a CMake configuration file for genlisp. +genlisp_DIR:PATH=/opt/ros/groovy/share/genlisp/cmake + +//The directory containing a CMake configuration file for genmsg. +genmsg_DIR:PATH=/opt/ros/groovy/share/genmsg/cmake + +//The directory containing a CMake configuration file for genpy. +genpy_DIR:PATH=/opt/ros/groovy/share/genpy/cmake + +//The directory containing a CMake configuration file for geometric_shapes. +geometric_shapes_DIR:PATH=/opt/ros/groovy/share/geometric_shapes/cmake + +//The directory containing a CMake configuration file for geometry_msgs. +geometry_msgs_DIR:PATH=/opt/ros/groovy/share/geometry_msgs/cmake + +//Value Computed by CMake +gtest_BINARY_DIR:STATIC=/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/gtest + +//Dependencies for the target +gtest_LIB_DEPENDS:STATIC=general;-lpthread; + +//Value Computed by CMake +gtest_SOURCE_DIR:STATIC=/usr/src/gtest + +//Build gtest's sample programs. +gtest_build_samples:BOOL=OFF + +//Build all of gtest's own tests. +gtest_build_tests:BOOL=OFF + +//Disable uses of pthreads in gtest. +gtest_disable_pthreads:BOOL=OFF + +//Use shared (DLL) run-time lib even when Google Test is built +// as static lib. +gtest_force_shared_crt:BOOL=OFF + +//Dependencies for the target +gtest_main_LIB_DEPENDS:STATIC=general;-lpthread;general;gtest; + +//The directory containing a CMake configuration file for household_objects_database_msgs. +household_objects_database_msgs_DIR:PATH=/opt/ros/groovy/share/household_objects_database_msgs/cmake + +//The directory containing a CMake configuration file for kdl_parser. +kdl_parser_DIR:PATH=/opt/ros/groovy/share/kdl_parser/cmake + +//Path to a library. +lib:FILEPATH=/usr/lib/x86_64-linux-gnu/libpthread.so + +//The directory containing a CMake configuration file for manipulation_msgs. +manipulation_msgs_DIR:PATH=/opt/ros/groovy/share/manipulation_msgs/cmake + +//The directory containing a CMake configuration file for message_generation. +message_generation_DIR:PATH=/opt/ros/groovy/share/message_generation/cmake + +//The directory containing a CMake configuration file for message_runtime. +message_runtime_DIR:PATH=/opt/ros/groovy/share/message_runtime/cmake + +//The directory containing a CMake configuration file for moveit_core. +moveit_core_DIR:PATH=/opt/ros/groovy/share/moveit_core/cmake + +//The directory containing a CMake configuration file for moveit_msgs. +moveit_msgs_DIR:PATH=/opt/ros/groovy/share/moveit_msgs/cmake + +//Value Computed by CMake +moveit_simple_controller_manager_BINARY_DIR:STATIC=/home/alessio/catkin_workspace/src/moveit_simple_controller_manager + +//Dependencies for the target +moveit_simple_controller_manager_LIB_DEPENDS:STATIC=general;/opt/ros/groovy/lib/libmoveit_exceptions.so;general;/opt/ros/groovy/lib/libmoveit_kinematics_base.so;general;/opt/ros/groovy/lib/libmoveit_robot_model.so;general;/opt/ros/groovy/lib/libmoveit_transforms.so;general;/opt/ros/groovy/lib/libmoveit_robot_state.so;general;/opt/ros/groovy/lib/libmoveit_robot_trajectory.so;general;/opt/ros/groovy/lib/libmoveit_planning_interface.so;general;/opt/ros/groovy/lib/libmoveit_collision_detection.so;general;/opt/ros/groovy/lib/libmoveit_collision_detection_fcl.so;general;/opt/ros/groovy/lib/libmoveit_kinematic_constraints.so;general;/opt/ros/groovy/lib/libmoveit_planning_scene.so;general;/opt/ros/groovy/lib/libmoveit_constraint_samplers.so;general;/opt/ros/groovy/lib/libmoveit_planning_request_adapter.so;general;/opt/ros/groovy/lib/libmoveit_profiler.so;general;/opt/ros/groovy/lib/libmoveit_trajectory_processing.so;general;/opt/ros/groovy/lib/libmoveit_distance_field.so;general;/opt/ros/groovy/lib/libmoveit_kinematics_metrics.so;general;/opt/ros/groovy/lib/libmoveit_dynamics_solver.so;general;/opt/ros/groovy/lib/liboctomap.so;general;/opt/ros/groovy/lib/liboctomath.so;general;/usr/lib/libboost_system-mt.so;general;/usr/lib/libboost_filesystem-mt.so;general;/usr/lib/libboost_date_time-mt.so;general;/usr/lib/libboost_thread-mt.so;general;/usr/lib/x86_64-linux-gnu/libpthread.so;general;/usr/lib/libboost_iostreams-mt.so;general;/opt/ros/groovy/lib/libgeometric_shapes.so;general;/opt/ros/groovy/lib/libshape_tools.so;general;/opt/ros/groovy/lib/libcpp_common.so;general;/opt/ros/groovy/lib/libroscpp_serialization.so;general;/opt/ros/groovy/lib/librostime.so;general;/opt/ros/groovy/lib/librandom_numbers.so;general;/opt/ros/groovy/lib/libconsole_bridge.so;general;/opt/ros/groovy/lib/libeigen_conversions.so;general;/opt/ros/groovy/lib/liborocos-kdl.so;general;/opt/ros/groovy/lib/libkdl_parser.so;general;/opt/ros/groovy/lib/libcollada_parser.so;general;/opt/ros/groovy/lib/libroscpp.so;general;/usr/lib/libboost_signals-mt.so;general;/opt/ros/groovy/lib/librosconsole.so;general;/usr/lib/libboost_regex-mt.so;general;/usr/lib/liblog4cxx.so;general;/opt/ros/groovy/lib/libxmlrpcpp.so;general;/opt/ros/groovy/lib/liburdf.so;general;/opt/ros/groovy/lib/liburdfdom_model.so;general;/opt/ros/groovy/lib/liburdfdom_model_state.so;general;/opt/ros/groovy/lib/liburdfdom_sensor.so;general;/opt/ros/groovy/lib/liburdfdom_world.so;general;/opt/ros/groovy/lib/librosconsole_bridge.so;general;/opt/ros/groovy/lib/libsrdfdom.so;general;/usr/lib/libtinyxml.so;general;/opt/ros/groovy/lib/libclass_loader.so;general;/usr/lib/libPocoFoundation.so;general;/usr/lib/x86_64-linux-gnu/libdl.so;general;/opt/ros/groovy/lib/libroslib.so;general;/opt/ros/groovy/lib/libactionlib.so;general;/usr/lib/libboost_thread-mt.so;general;pthread; + +//Value Computed by CMake +moveit_simple_controller_manager_SOURCE_DIR:STATIC=/home/alessio/catkin_workspace/src/moveit_simple_controller_manager + +//The directory containing a CMake configuration file for object_recognition_msgs. +object_recognition_msgs_DIR:PATH=/opt/ros/groovy/share/object_recognition_msgs/cmake + +//The directory containing a CMake configuration file for octomap_msgs. +octomap_msgs_DIR:PATH=/opt/ros/groovy/share/octomap_msgs/cmake + +//The directory containing a CMake configuration file for orocos_kdl. +orocos_kdl_DIR:PATH=/opt/ros/groovy/share/orocos_kdl/cmake + +//The directory containing a CMake configuration file for pluginlib. +pluginlib_DIR:PATH=/opt/ros/groovy/share/pluginlib/cmake + +//The directory containing a CMake configuration file for random_numbers. +random_numbers_DIR:PATH=/opt/ros/groovy/share/random_numbers/cmake + +//The directory containing a CMake configuration file for rosconsole. +rosconsole_DIR:PATH=/opt/ros/groovy/share/rosconsole/cmake + +//The directory containing a CMake configuration file for rosconsole_bridge. +rosconsole_bridge_DIR:PATH=/opt/ros/groovy/share/rosconsole_bridge/cmake + +//The directory containing a CMake configuration file for roscpp. +roscpp_DIR:PATH=/opt/ros/groovy/share/roscpp/cmake + +//The directory containing a CMake configuration file for roscpp_serialization. +roscpp_serialization_DIR:PATH=/opt/ros/groovy/share/roscpp_serialization/cmake + +//The directory containing a CMake configuration file for roscpp_traits. +roscpp_traits_DIR:PATH=/opt/ros/groovy/share/roscpp_traits/cmake + +//The directory containing a CMake configuration file for rosgraph_msgs. +rosgraph_msgs_DIR:PATH=/opt/ros/groovy/share/rosgraph_msgs/cmake + +//The directory containing a CMake configuration file for roslib. +roslib_DIR:PATH=/opt/ros/groovy/share/roslib/cmake + +//The directory containing a CMake configuration file for rostime. +rostime_DIR:PATH=/opt/ros/groovy/share/rostime/cmake + +//The directory containing a 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+urdfdom_DIR:PATH=/opt/ros/groovy/share/urdfdom/cmake + +//The directory containing a CMake configuration file for urdfdom_headers. +urdfdom_headers_DIR:PATH=/opt/ros/groovy/share/urdfdom_headers/cmake + +//The directory containing a CMake configuration file for xmlrpcpp. +xmlrpcpp_DIR:PATH=/opt/ros/groovy/share/xmlrpcpp/cmake + + +######################## +# INTERNAL cache entries +######################## + +//ADVANCED property for variable: Boost_INCLUDE_DIR +Boost_INCLUDE_DIR-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_LIBRARY_DIRS +Boost_LIBRARY_DIRS-ADVANCED:INTERNAL=1 +//The library version string for boost libraries +Boost_LIB_VERSION:INTERNAL=1_46_1 +//Whether the Boost THREAD library found +Boost_THREAD_FOUND:INTERNAL=ON +//ADVANCED property for variable: Boost_THREAD_LIBRARY +Boost_THREAD_LIBRARY-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: Boost_THREAD_LIBRARY_DEBUG +Boost_THREAD_LIBRARY_DEBUG-ADVANCED:INTERNAL=1 +//ADVANCED property for variable: 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gtest/CMakeFiles/gtest.dir/build.make gtest/CMakeFiles/gtest.dir/build +.PHONY : gtest/fast + +#============================================================================= +# Target rules for targets named gtest_main + +# Build rule for target. +gtest_main: cmake_check_build_system + $(MAKE) -f CMakeFiles/Makefile2 gtest_main +.PHONY : gtest_main + +# fast build rule for target. +gtest_main/fast: + $(MAKE) -f gtest/CMakeFiles/gtest_main.dir/build.make gtest/CMakeFiles/gtest_main.dir/build +.PHONY : gtest_main/fast + +src/moveit_simple_controller_manager.o: src/moveit_simple_controller_manager.cpp.o +.PHONY : src/moveit_simple_controller_manager.o + +# target to build an object file +src/moveit_simple_controller_manager.cpp.o: + $(MAKE) -f CMakeFiles/moveit_simple_controller_manager.dir/build.make CMakeFiles/moveit_simple_controller_manager.dir/src/moveit_simple_controller_manager.cpp.o +.PHONY : src/moveit_simple_controller_manager.cpp.o + +src/moveit_simple_controller_manager.i: src/moveit_simple_controller_manager.cpp.i +.PHONY : src/moveit_simple_controller_manager.i + +# target to preprocess a source file +src/moveit_simple_controller_manager.cpp.i: + $(MAKE) -f CMakeFiles/moveit_simple_controller_manager.dir/build.make CMakeFiles/moveit_simple_controller_manager.dir/src/moveit_simple_controller_manager.cpp.i +.PHONY : src/moveit_simple_controller_manager.cpp.i + +src/moveit_simple_controller_manager.s: src/moveit_simple_controller_manager.cpp.s +.PHONY : src/moveit_simple_controller_manager.s + +# target to generate assembly for a file +src/moveit_simple_controller_manager.cpp.s: + $(MAKE) -f CMakeFiles/moveit_simple_controller_manager.dir/build.make CMakeFiles/moveit_simple_controller_manager.dir/src/moveit_simple_controller_manager.cpp.s +.PHONY : src/moveit_simple_controller_manager.cpp.s + +# Help Target +help: + @echo "The following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... _catkin_empty_exported_target" + @echo "... actionlib_generate_messages_cpp" + @echo "... actionlib_generate_messages_lisp" + @echo "... actionlib_generate_messages_py" + @echo "... actionlib_msgs_generate_messages_cpp" + @echo "... actionlib_msgs_generate_messages_lisp" + @echo "... actionlib_msgs_generate_messages_py" + @echo "... clean_test_results" + @echo "... control_msgs_generate_messages_cpp" + @echo "... control_msgs_generate_messages_lisp" + @echo "... control_msgs_generate_messages_py" + @echo "... doxygen" + @echo "... edit_cache" + @echo "... geometry_msgs_generate_messages_cpp" + @echo "... geometry_msgs_generate_messages_lisp" + @echo "... geometry_msgs_generate_messages_py" + @echo "... household_objects_database_msgs_generate_messages_cpp" + @echo "... household_objects_database_msgs_generate_messages_lisp" + @echo "... household_objects_database_msgs_generate_messages_py" + @echo "... install" + @echo "... install/local" + @echo "... install/strip" + @echo "... list_install_components" + @echo "... manipulation_msgs_generate_messages_cpp" + @echo "... manipulation_msgs_generate_messages_lisp" + @echo "... manipulation_msgs_generate_messages_py" + @echo "... moveit_msgs_generate_messages_cpp" + @echo "... moveit_msgs_generate_messages_lisp" + @echo "... moveit_msgs_generate_messages_py" + @echo "... moveit_simple_controller_manager" + @echo "... object_recognition_msgs_generate_messages_cpp" + @echo "... object_recognition_msgs_generate_messages_lisp" + @echo "... object_recognition_msgs_generate_messages_py" + @echo "... octomap_msgs_generate_messages_cpp" + @echo "... octomap_msgs_generate_messages_lisp" + @echo "... octomap_msgs_generate_messages_py" + @echo "... rebuild_cache" + @echo "... roscpp_generate_messages_cpp" + @echo "... roscpp_generate_messages_lisp" + @echo "... roscpp_generate_messages_py" + @echo "... rosgraph_msgs_generate_messages_cpp" + @echo "... rosgraph_msgs_generate_messages_lisp" + @echo "... rosgraph_msgs_generate_messages_py" + @echo "... run_tests" + @echo "... sensor_msgs_generate_messages_cpp" + @echo "... sensor_msgs_generate_messages_lisp" + @echo "... sensor_msgs_generate_messages_py" + @echo "... shape_msgs_generate_messages_cpp" + @echo "... shape_msgs_generate_messages_lisp" + @echo "... shape_msgs_generate_messages_py" + @echo "... std_msgs_generate_messages_cpp" + @echo "... std_msgs_generate_messages_lisp" + @echo "... std_msgs_generate_messages_py" + @echo "... test" + @echo "... tests" + @echo "... trajectory_msgs_generate_messages_cpp" + @echo "... trajectory_msgs_generate_messages_lisp" + @echo "... trajectory_msgs_generate_messages_py" + @echo "... gtest" + @echo "... gtest_main" + @echo "... src/moveit_simple_controller_manager.o" + @echo "... src/moveit_simple_controller_manager.i" + @echo "... src/moveit_simple_controller_manager.s" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/ROS-groovy/moveit_simple_controller_manager/README.txt b/ROS-groovy/moveit_simple_controller_manager/README.txt new file mode 100644 index 0000000..f386d3d --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/README.txt @@ -0,0 +1 @@ +Modified version of Moveit_simple_controller_manager to handle MultiDofFollowJointTrajectoryAction and to interface the plugin with the action_controller diff --git a/ROS-groovy/moveit_simple_controller_manager/README.txt~ b/ROS-groovy/moveit_simple_controller_manager/README.txt~ new file mode 100644 index 0000000..22e0a12 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/README.txt~ @@ -0,0 +1 @@ +Modified version of Moveit_simple_controller_manager to handle MultiDofFollowJointTrajectoryAction and to interface the plugin with the action_controlelr diff --git a/ROS-groovy/moveit_simple_controller_manager/catkin/catkin_generated/version/package.cmake b/ROS-groovy/moveit_simple_controller_manager/catkin/catkin_generated/version/package.cmake new file mode 100644 index 0000000..d353ec8 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/catkin/catkin_generated/version/package.cmake @@ -0,0 +1,8 @@ +set(_CATKIN_CURRENT_PACKAGE "catkin") +set(catkin_VERSION "0.5.71") +set(catkin_MAINTAINER "Dirk Thomas ") +set(catkin_BUILD_DEPENDS "gtest" "python-argparse" "python-catkin-pkg" "python-empy" "python-nose") +set(catkin_RUN_DEPENDS "cmake" "gtest" "python-argparse" "python-catkin-pkg" "python-empy" "python-nose") +set(catkin_DEPRECATED "") +set(catkin_BUILDTOOL_DEPENDS "cmake") +set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GTE "0.1.12") \ No newline at end of file diff --git a/ROS-groovy/moveit_simple_controller_manager/catkin_generated/env_cached.sh b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/env_cached.sh new file mode 100644 index 0000000..fef6fda --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/env_cached.sh @@ -0,0 +1,11 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +else + . "/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/catkin_generated/setup_cached.sh" + exec "$@" +fi diff --git a/ROS-groovy/moveit_simple_controller_manager/catkin_generated/generate_cached_setup.py b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/generate_cached_setup.py new file mode 100644 index 0000000..72c2017 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/generate_cached_setup.py @@ -0,0 +1,29 @@ +from __future__ import print_function +import argparse +import os +import stat +import sys + +# find the import for catkin's python package - either from source space or from an installed underlay +if os.path.exists(os.path.join('/opt/ros/groovy/share/catkin/cmake', 'catkinConfig.cmake.in')): + sys.path.insert(0, os.path.join('/opt/ros/groovy/share/catkin/cmake', '..', 'python')) +try: + from catkin.environment_cache import generate_environment_script +except ImportError: + # search for catkin package in all workspaces and prepend to path + for workspace in "".split(';'): + python_path = os.path.join(workspace, 'lib/python2.7/dist-packages') + if os.path.isdir(os.path.join(python_path, 'catkin')): + sys.path.insert(0, python_path) + break + from catkin.environment_cache import generate_environment_script + +code = generate_environment_script('/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/devel/env.sh') + +output_filename = '/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/catkin_generated/setup_cached.sh' +with open(output_filename, 'w') as f: + #print('Generate script for cached setup "%s"' % output_filename) + f.write('\n'.join(code)) + +mode = os.stat(output_filename).st_mode +os.chmod(output_filename, mode | stat.S_IXUSR) diff --git a/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/.catkin b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/.catkin new file mode 100644 index 0000000..e69de29 diff --git a/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/.rosinstall b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/.rosinstall new file mode 100644 index 0000000..6fb13af --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /usr/local/setup.sh diff --git a/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/_setup_util.py b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/_setup_util.py new file mode 100644 index 0000000..6c59a60 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/_setup_util.py @@ -0,0 +1,250 @@ +#!/usr/bin/env python + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +'''This file generates shell code for the setup.SHELL scripts to set environment variables''' + +from __future__ import print_function +import argparse +import copy +import os +import platform +import sys + +# environment at generation time +CMAKE_PREFIX_PATH = ''.split(';') +setup_dir = '/usr/local' +if setup_dir and setup_dir not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, setup_dir) +CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'CPATH': 'include', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': 'lib', + 'PATH': 'bin', + 'PKG_CONFIG_PATH': 'lib/pkgconfig', + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + ''' + Generate shell code to reset environment variables + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + ''' + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolder = env_var_subfolders[key] + value = _rollback_env_variable(unmodified_environ, key, subfolder) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolder): + ''' + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolder: str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + ''' + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False): + ''' + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + ''' + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte'))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + ''' + Generate shell code to prepend environment variables + for the all workspaces. + ''' + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted([key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH']): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolder): + ''' + Return the prefix to prepend to the environment variable NAME, adding any path in NEW_PATHS_STR without creating duplicate or empty items. + ''' + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if subfolder: + path = os.path.join(path, subfolder) + # exclude any path already in env and any path we already added + if path not in environ_paths and path not in checked_paths: + checked_paths.append(path) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + ''' + Generate shell code with found environment hooks + for the all workspaces. + ''' + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + specific_env_hooks = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + generic_env_hooks.remove(generic_env_hooks_by_filename[filename]) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + specific_env_hooks.remove(specific_env_hooks_by_filename[filename]) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS', os.pathsep.join(generic_env_hooks + specific_env_hooks))) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + exit(1) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + sys.exit(0) diff --git a/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/env.sh b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/env.sh new file mode 100644 index 0000000..07d4376 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/env.sh @@ -0,0 +1,11 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +else + . "/usr/local/setup.sh" + exec "$@" +fi diff --git a/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/moveit_simple_controller_manager.pc b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/moveit_simple_controller_manager.pc new file mode 100644 index 0000000..eccb8cc --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/moveit_simple_controller_manager.pc @@ -0,0 +1,8 @@ +prefix=/usr/local + +Name: moveit_simple_controller_manager +Description: Description of moveit_simple_controller_manager +Version: 0.5.2 +Cflags: +Libs: -L/usr/local/lib +Requires: moveit_core diff --git a/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/moveit_simple_controller_managerConfig-version.cmake b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/moveit_simple_controller_managerConfig-version.cmake new file mode 100644 index 0000000..8b9ec91 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/moveit_simple_controller_managerConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.5.2") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/moveit_simple_controller_managerConfig.cmake b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/moveit_simple_controller_managerConfig.cmake new file mode 100644 index 0000000..c708de5 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/moveit_simple_controller_managerConfig.cmake @@ -0,0 +1,174 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# remove duplicate libraries, generalized from PCLConfig.cmake.in +macro(_remove_duplicate_libraries _unfiltered_libraries _final_filtered_libraries) + set(_filtered_libraries) + set(_debug_libraries) + set(_optimized_libraries) + set(_other_libraries) + set(_waiting_for_debug 0) + set(_waiting_for_optimized 0) + set(_library_position -1) + foreach(library ${${_unfiltered_libraries}}) + if("${library}" STREQUAL "debug") + set(_waiting_for_debug 1) + elseif("${library}" STREQUAL "optimized") + set(_waiting_for_optimized 1) + elseif(_waiting_for_debug) + list(FIND _debug_libraries "${library}" library_position) + if(library_position EQUAL -1) + list(APPEND ${_filtered_libraries} debug ${library}) + list(APPEND _debug_libraries ${library}) + endif() + set(_waiting_for_debug 0) + elseif(_waiting_for_optimized) + list(FIND _optimized_libraries "${library}" library_position) + if(library_position EQUAL -1) + list(APPEND ${_filtered_libraries} optimized ${library}) + list(APPEND _optimized_libraries ${library}) + endif() + set(_waiting_for_optimized 0) + else("${library}" STREQUAL "debug") + list(FIND _other_libraries "${library}" library_position) + if(library_position EQUAL -1) + list(APPEND ${_filtered_libraries} ${library}) + list(APPEND _other_libraries ${library}) + endif() + endif("${library}" STREQUAL "debug") + endforeach(library) + set(_final_filtered_libraries _filtered_libraries) +endmacro() + + +if(moveit_simple_controller_manager_CONFIG_INCLUDED) + return() +endif() +set(moveit_simple_controller_manager_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("FALSE" STREQUAL "TRUE") + set(moveit_simple_controller_manager_SOURCE_PREFIX /home/alessio/catkin_workspace/src/moveit_simple_controller_manager) + set(moveit_simple_controller_manager_DEVEL_PREFIX /home/alessio/catkin_workspace/src/moveit_simple_controller_manager/devel) + set(moveit_simple_controller_manager_INSTALL_PREFIX "") + set(moveit_simple_controller_manager_PREFIX ${moveit_simple_controller_manager_DEVEL_PREFIX}) +else() + set(moveit_simple_controller_manager_SOURCE_PREFIX "") + set(moveit_simple_controller_manager_DEVEL_PREFIX "") + set(moveit_simple_controller_manager_INSTALL_PREFIX /usr/local) + set(moveit_simple_controller_manager_PREFIX ${moveit_simple_controller_manager_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'moveit_simple_controller_manager' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(moveit_simple_controller_manager_FOUND_CATKIN_PROJECT TRUE) + +if(NOT "" STREQUAL "") + set(moveit_simple_controller_manager_INCLUDE_DIRS "") + set(absolute_include_dirs "") + foreach(idir ${absolute_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif(IS_DIRECTORY /usr/local/${idir}) + set(include /usr/local/${idir}) + else() + message(FATAL_ERROR "Project 'moveit_simple_controller_manager' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/usr/local/${idir}'. Ask the maintainer 'Michael Ferguson ' to fix it.") + endif() + _list_append_unique(moveit_simple_controller_manager_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + if(TARGET ${library}) + list(APPEND moveit_simple_controller_manager_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND moveit_simple_controller_manager_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /usr/local/lib;/opt/ros/groovy/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(moveit_simple_controller_manager_LIBRARY_DIRS ${lib_path}) + list(APPEND moveit_simple_controller_manager_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'moveit_simple_controller_manager'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND moveit_simple_controller_manager_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(moveit_simple_controller_manager_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${moveit_simple_controller_manager_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "moveit_core") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 moveit_simple_controller_manager_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${moveit_simple_controller_manager_dep}_FOUND) + find_package(${moveit_simple_controller_manager_dep} REQUIRED) + endif() + else() + # dependencies with components must be find_package()-ed again + list(REMOVE_AT depend_list 0) + find_package(${moveit_simple_controller_manager_dep} REQUIRED ${depend_list}) + endif() + _list_append_unique(moveit_simple_controller_manager_INCLUDE_DIRS ${${moveit_simple_controller_manager_dep}_INCLUDE_DIRS}) + list(APPEND moveit_simple_controller_manager_LIBRARIES ${${moveit_simple_controller_manager_dep}_LIBRARIES}) + _list_append_unique(moveit_simple_controller_manager_LIBRARY_DIRS ${${moveit_simple_controller_manager_dep}_LIBRARY_DIRS}) + list(APPEND moveit_simple_controller_manager_EXPORTED_TARGETS ${${moveit_simple_controller_manager_dep}_EXPORTED_TARGETS}) +endforeach() + +if(moveit_simple_controller_manager_LIBRARIES) + _remove_duplicate_libraries(moveit_simple_controller_manager_LIBRARIES moveit_simple_controller_manager_LIBRARIES) +endif() + +set(pkg_cfg_extras "") +foreach(extra ${pkg_cfg_extras}) + if(NOT IS_ABSOLUTE ${extra}) + set(extra ${moveit_simple_controller_manager_DIR}/${extra}) + endif() + include(${extra}) +endforeach() diff --git a/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/setup.bash b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/setup.bash new file mode 100644 index 0000000..00a56ab --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/setup.bash @@ -0,0 +1,5 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash +. "/usr/local/setup.sh" diff --git a/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/setup.sh b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/setup.sh new file mode 100644 index 0000000..18d130c --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/setup.sh @@ -0,0 +1,76 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file + +_SETUP_UTIL="/usr/local/_setup_util.py" + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +export CPATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +_SETUP_TMP=`mktemp /tmp/setup.sh.XXXXXXXXXX` +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ > $_SETUP_TMP +. $_SETUP_TMP +rm -f $_SETUP_TMP + +# save value of IFS, including if it was unset +# the "+x" syntax helps differentiate unset from empty +_IFS=$IFS +if [ -z ${IFS+x} ]; then + _IFS_WAS_UNSET=1 +fi + +# source all environment hooks +IFS=":" +for _envfile in $_CATKIN_ENVIRONMENT_HOOKS; do + # restore value of IFS, including if it was unset + IFS=$_IFS + if [ $_IFS_WAS_UNSET ]; then + unset IFS + fi + . "$_envfile" +done + +# restore value of IFS, including if it was unset +IFS=$_IFS +if [ $_IFS_WAS_UNSET ]; then + unset IFS + unset _IFS_WAS_UNSET +fi +unset _IFS + +unset _CATKIN_ENVIRONMENT_HOOKS diff --git a/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/setup.zsh b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/setup.zsh new file mode 100644 index 0000000..5600d94 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/installspace/setup.zsh @@ -0,0 +1,7 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh +emulate sh # emulate POSIX +. "/usr/local/setup.sh" +emulate zsh # back to zsh mode diff --git a/ROS-groovy/moveit_simple_controller_manager/catkin_generated/ordered_paths.cmake b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/ordered_paths.cmake new file mode 100644 index 0000000..864b586 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/groovy/lib") \ No newline at end of file diff --git a/ROS-groovy/moveit_simple_controller_manager/catkin_generated/package.cmake b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/package.cmake new file mode 100644 index 0000000..5411d4d --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/package.cmake @@ -0,0 +1,7 @@ +set(_CATKIN_CURRENT_PACKAGE "moveit_simple_controller_manager") +set(moveit_simple_controller_manager_MAINTAINER "Michael Ferguson ") +set(moveit_simple_controller_manager_DEPRECATED "") +set(moveit_simple_controller_manager_VERSION "0.5.2") +set(moveit_simple_controller_manager_BUILD_DEPENDS "moveit_core" "roscpp" "pluginlib" "control_msgs" "actionlib") +set(moveit_simple_controller_manager_RUN_DEPENDS "moveit_core" "roscpp" "pluginlib" "control_msgs" "actionlib") +set(moveit_simple_controller_manager_BUILDTOOL_DEPENDS "catkin") \ No newline at end of file diff --git a/ROS-groovy/moveit_simple_controller_manager/catkin_generated/pkg.develspace.context.pc.py b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/pkg.develspace.context.pc.py new file mode 100644 index 0000000..da952eb --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/pkg.develspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_ABSOLUTE_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "moveit_core".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "moveit_simple_controller_manager" +PROJECT_SPACE_DIR = "/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/devel" +PROJECT_VERSION = "0.5.2" diff --git a/ROS-groovy/moveit_simple_controller_manager/catkin_generated/pkg.installspace.context.pc.py b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/pkg.installspace.context.pc.py new file mode 100644 index 0000000..12444ed --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/pkg.installspace.context.pc.py @@ -0,0 +1,8 @@ +# generated from catkin/cmake/template/pkg.context.pc.in +CATKIN_PACKAGE_PREFIX = "" +PROJECT_ABSOLUTE_INCLUDE_DIRS = "".split(';') if "" != "" else [] +PROJECT_CATKIN_DEPENDS = "moveit_core".replace(';', ' ') +PKG_CONFIG_LIBRARIES_WITH_PREFIX = "".split(';') if "" != "" else [] +PROJECT_NAME = "moveit_simple_controller_manager" +PROJECT_SPACE_DIR = "/usr/local" +PROJECT_VERSION = "0.5.2" diff --git a/ROS-groovy/moveit_simple_controller_manager/catkin_generated/setup_cached.sh b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/setup_cached.sh new file mode 100644 index 0000000..19902a7 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/setup_cached.sh @@ -0,0 +1,19 @@ +#!/usr/bin/env sh +# generated from catkin/python/catkin/environment_cache.py + +# based on a snapshot of the environment before and after calling the setup script +# it emulates the modifications of the setup script without recurring computations + +# new environment variables +export CATKIN_TEST_RESULTS_DIR="/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/test_results" +export ROS_TEST_RESULTS_DIR="/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/test_results" + +# modified environment variables +export CMAKE_PREFIX_PATH="/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/devel:$CMAKE_PREFIX_PATH" +export CPATH="/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/devel/include:$CPATH" +export LD_LIBRARY_PATH="/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/devel/lib:$LD_LIBRARY_PATH" +export PATH="/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/devel/bin:$PATH" +export PKG_CONFIG_PATH="/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/devel/lib/pkgconfig:$PKG_CONFIG_PATH" +export PYTHONPATH="/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/devel/lib/python2.7/dist-packages:$PYTHONPATH" +export ROSLISP_PACKAGE_DIRECTORIES="/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/devel/share/common-lisp" +export ROS_PACKAGE_PATH="/home/alessio/catkin_workspace/src/moveit_simple_controller_manager:/opt/ros/groovy/share:/opt/ros/groovy/stacks" \ No newline at end of file diff --git a/ROS-groovy/moveit_simple_controller_manager/catkin_generated/stamps/moveit_simple_controller_manager/interrogate_setup_dot_py.py.stamp b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/stamps/moveit_simple_controller_manager/interrogate_setup_dot_py.py.stamp new file mode 100644 index 0000000..8a3c234 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/stamps/moveit_simple_controller_manager/interrogate_setup_dot_py.py.stamp @@ -0,0 +1,233 @@ +#!/usr/bin/env python + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +from __future__ import print_function +import os +import sys + +import distutils.core +try: + import setuptools +except ImportError: + pass + +from argparse import ArgumentParser + + +def _get_locations(pkgs, package_dir): + """ + based on setuptools logic and the package_dir dict, builds a dict + of location roots for each pkg in pkgs. + See http://docs.python.org/distutils/setupscript.html + + :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents) + """ + # package_dir contains a dict {package_name: relativepath} + # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'} + # + # '' means where to look for any package unless a parent package + # is listed so package bar.pot is expected at lib2/bar/pot, + # whereas package sup.dee is expected at src/sup/dee + # + # if package_dir does not state anything about a package, + # setuptool expects the package folder to be in the root of the + # project + locations = {} + allprefix = package_dir.get('', '') + for pkg in pkgs: + parent_location = None + splits = pkg.split('.') + # we iterate over compound name from parent to child + # so once we found parent, children just append to their parent + for key_len in range(len(splits)): + key = '.'.join(splits[:key_len + 1]) + if key not in locations: + if key in package_dir: + locations[key] = package_dir[key] + elif parent_location is not None: + locations[key] = parent_location + else: + locations[key] = allprefix + parent_location = locations[key] + return locations + + +def generate_cmake_file(package_name, version, scripts, package_dir, pkgs): + """ + Generates lines to add to a cmake file which will set variables + + :param version: str, format 'int.int.int' + :param scripts: [list of str]: relative paths to scripts + :param package_dir: {modulename: path} + :pkgs: [list of str] python_packages declared in catkin package + """ + prefix = '%s_SETUP_PY' % package_name + result = [] + result.append(r'set(%s_VERSION "%s")' % (prefix, version)) + result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts))) + + # Remove packages with '.' separators. + # + # setuptools allows specifying submodules in other folders than + # their parent + # + # The symlink approach of catkin does not work with such submodules. + # In the common case, this does not matter as the submodule is + # within the containing module. We verify this assumption, and if + # it passes, we remove submodule packages. + locations = _get_locations(pkgs, package_dir) + for pkgname, location in locations.items(): + if not '.' in pkgname: + continue + splits = pkgname.split('.') + # hack: ignore write-combining setup.py files for msg and srv files + if splits[1] in ['msg', 'srv']: + continue + # check every child has the same root folder as its parent + parent_name = '.'.join(splits[:1]) + if location != locations[parent_name]: + raise RuntimeError( + "catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s" % (pkgname, location, parent_name, locations[parent_name])) + + # If checks pass, remove all submodules + pkgs = [p for p in pkgs if '.' not in p] + + resolved_pkgs = [] + for pkg in pkgs: + resolved_pkgs += [os.path.join(locations[pkg], pkg)] + + result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs))) + result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace("\\", "/"))) + return result + + +def _create_mock_setup_function(package_name, outfile): + """ + Creates a function to call instead of distutils.core.setup or + setuptools.setup, which just captures some args and writes them + into a file that can be used from cmake + + :param package_name: name of the package + :param outfile: filename that cmake will use afterwards + :returns: a function to replace disutils.core.setup and setuptools.setup + """ + + def setup(*args, **kwargs): + ''' + Checks kwargs and writes a scriptfile + ''' + if 'version' not in kwargs: + sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name) + raise RuntimeError("version not found in setup.py") + version = kwargs['version'] + package_dir = kwargs.get('package_dir', {}) + + pkgs = kwargs.get('packages', []) + scripts = kwargs.get('scripts', []) + + unsupported_args = [ + 'entry_points', + 'exclude_package_data', + 'ext_modules ', + 'ext_package', + 'include_package_data', + 'namespace_packages', + 'py_modules', + 'setup_requires', + 'use_2to3', + 'zip_safe'] + used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs] + if used_unsupported_args: + sys.stderr.write("*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n" % (used_unsupported_args, package_name)) + + result = generate_cmake_file(package_name=package_name, + version=version, + scripts=scripts, + package_dir=package_dir, + pkgs=pkgs) + with open(outfile, 'w') as out: + out.write('\n'.join(result)) + + return setup + + +def main(): + """ + Script main, parses arguments and invokes Dummy.setup indirectly. + """ + parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.') + parser.add_argument('package_name', help='Name of catkin package') + parser.add_argument('setupfile_path', help='Full path to setup.py') + parser.add_argument('outfile', help='Where to write result to') + + args = parser.parse_args() + + # print("%s" % sys.argv) + # PACKAGE_NAME = sys.argv[1] + # OUTFILE = sys.argv[3] + # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE), + # file=sys.stderr) + + # print("executing %s" % args.setupfile_path) + + # be sure you're in the directory containing + # setup.py so the sys.path manipulation works, + # so the import of __version__ works + os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path))) + + # patch setup() function of distutils and setuptools for the + # context of evaluating setup.py + try: + fake_setup = _create_mock_setup_function(package_name=args.package_name, + outfile=args.outfile) + + distutils_backup = distutils.core.setup + distutils.core.setup = fake_setup + try: + setuptools_backup = setuptools.setup + setuptools.setup = fake_setup + except NameError: + pass + + with open(args.setupfile_path, 'r') as fh: + exec(fh.read()) + finally: + distutils.core.setup = distutils_backup + try: + setuptools.setup = setuptools_backup + except NameError: + pass + +if __name__ == '__main__': + main() diff --git a/ROS-groovy/moveit_simple_controller_manager/catkin_generated/stamps/moveit_simple_controller_manager/package.xml.stamp b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/stamps/moveit_simple_controller_manager/package.xml.stamp new file mode 100644 index 0000000..17718d4 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/stamps/moveit_simple_controller_manager/package.xml.stamp @@ -0,0 +1,36 @@ + + + catkin + 0.5.71 + Low-level build system macros and infrastructure for ROS. + Dirk Thomas + BSD + + http://www.ros.org/wiki/catkin + https://github.com/ros/catkin/issues + https://github.com/ros/catkin + + Troy Straszheim + Morten Kjaergaard + Brian Gerkey + Dirk Thomas + + gtest + python-argparse + python-catkin-pkg + python-empy + python-nose + + cmake + + cmake + gtest + python-argparse + python-catkin-pkg + python-empy + python-nose + + + + + diff --git a/ROS-groovy/moveit_simple_controller_manager/catkin_generated/stamps/moveit_simple_controller_manager/pkg.pc.em.stamp b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/stamps/moveit_simple_controller_manager/pkg.pc.em.stamp new file mode 100644 index 0000000..8b389ce --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/catkin_generated/stamps/moveit_simple_controller_manager/pkg.pc.em.stamp @@ -0,0 +1,8 @@ +prefix=@PROJECT_SPACE_DIR + +Name: @(CATKIN_PACKAGE_PREFIX + PROJECT_NAME) +Description: Description of @PROJECT_NAME +Version: @PROJECT_VERSION +Cflags: @(' '.join(['-I%s' % include for include in PROJECT_ABSOLUTE_INCLUDE_DIRS])) +Libs: -L@PROJECT_SPACE_DIR/lib @(' '.join(PKG_CONFIG_LIBRARIES_WITH_PREFIX)) +Requires: @(PROJECT_CATKIN_DEPENDS) diff --git a/ROS-groovy/moveit_simple_controller_manager/cmake_install.cmake b/ROS-groovy/moveit_simple_controller_manager/cmake_install.cmake new file mode 100644 index 0000000..846af57 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/cmake_install.cmake @@ -0,0 +1,137 @@ +# Install script for directory: /home/alessio/catkin_workspace/src/moveit_simple_controller_manager + +# Set the install prefix +IF(NOT DEFINED CMAKE_INSTALL_PREFIX) + SET(CMAKE_INSTALL_PREFIX "/usr/local") +ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX) +STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + IF(BUILD_TYPE) + STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + ELSE(BUILD_TYPE) + SET(CMAKE_INSTALL_CONFIG_NAME "Debug") + ENDIF(BUILD_TYPE) + MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + +# Set the component getting installed. +IF(NOT CMAKE_INSTALL_COMPONENT) + IF(COMPONENT) + MESSAGE(STATUS "Install component: \"${COMPONENT}\"") + SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + ELSE(COMPONENT) + SET(CMAKE_INSTALL_COMPONENT) + ENDIF(COMPONENT) +ENDIF(NOT CMAKE_INSTALL_COMPONENT) + +# Install shared libraries without execute permission? +IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + SET(CMAKE_INSTALL_SO_NO_EXE "1") +ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES + "/usr/local/.catkin") +FILE(INSTALL DESTINATION "/usr/local" TYPE FILE FILES "/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/catkin_generated/installspace/.catkin") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES + "/usr/local/_setup_util.py") +FILE(INSTALL DESTINATION "/usr/local" TYPE PROGRAM FILES "/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/catkin_generated/installspace/_setup_util.py") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES + "/usr/local/env.sh") +FILE(INSTALL DESTINATION "/usr/local" TYPE PROGRAM FILES "/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/catkin_generated/installspace/env.sh") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES + "/usr/local/setup.bash") +FILE(INSTALL DESTINATION "/usr/local" TYPE FILE FILES "/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/catkin_generated/installspace/setup.bash") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES + "/usr/local/setup.sh") +FILE(INSTALL DESTINATION "/usr/local" TYPE FILE FILES "/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/catkin_generated/installspace/setup.sh") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES + "/usr/local/setup.zsh") +FILE(INSTALL DESTINATION "/usr/local" TYPE FILE FILES "/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/catkin_generated/installspace/setup.zsh") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES + "/usr/local/.rosinstall") +FILE(INSTALL DESTINATION "/usr/local" TYPE FILE FILES "/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/catkin_generated/installspace/.rosinstall") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/etc/catkin/profile.d" TYPE FILE FILES "/opt/ros/groovy/share/catkin/cmake/env-hooks/05.catkin_make.bash") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/etc/catkin/profile.d" TYPE FILE FILES "/opt/ros/groovy/share/catkin/cmake/env-hooks/05.catkin_make_isolated.bash") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib/pkgconfig" TYPE FILE FILES "/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/catkin_generated/installspace/moveit_simple_controller_manager.pc") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/moveit_simple_controller_manager/cmake" TYPE FILE FILES + "/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/catkin_generated/installspace/moveit_simple_controller_managerConfig.cmake" + "/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/catkin_generated/installspace/moveit_simple_controller_managerConfig-version.cmake" + ) +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/moveit_simple_controller_manager" TYPE FILE FILES "/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/package.xml") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + IF(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmoveit_simple_controller_manager.so" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmoveit_simple_controller_manager.so") + FILE(RPATH_CHECK + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmoveit_simple_controller_manager.so" + RPATH "") + ENDIF() + FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/lib" TYPE SHARED_LIBRARY FILES "/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/devel/lib/libmoveit_simple_controller_manager.so") + IF(EXISTS "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmoveit_simple_controller_manager.so" AND + NOT IS_SYMLINK "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmoveit_simple_controller_manager.so") + FILE(RPATH_REMOVE + FILE "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmoveit_simple_controller_manager.so") + IF(CMAKE_INSTALL_DO_STRIP) + EXECUTE_PROCESS(COMMAND "/usr/bin/strip" "$ENV{DESTDIR}${CMAKE_INSTALL_PREFIX}/lib/libmoveit_simple_controller_manager.so") + ENDIF(CMAKE_INSTALL_DO_STRIP) + ENDIF() +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/share/moveit_simple_controller_manager" TYPE FILE FILES "/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/moveit_simple_controller_manager_plugin_description.xml") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_LOCAL_ONLY) + # Include the install script for each subdirectory. + INCLUDE("/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/gtest/cmake_install.cmake") + +ENDIF(NOT CMAKE_INSTALL_LOCAL_ONLY) + +IF(CMAKE_INSTALL_COMPONENT) + SET(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt") +ELSE(CMAKE_INSTALL_COMPONENT) + SET(CMAKE_INSTALL_MANIFEST "install_manifest.txt") +ENDIF(CMAKE_INSTALL_COMPONENT) + +FILE(WRITE "/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/${CMAKE_INSTALL_MANIFEST}" "") +FOREACH(file ${CMAKE_INSTALL_MANIFEST_FILES}) + FILE(APPEND "/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/${CMAKE_INSTALL_MANIFEST}" "${file}\n") +ENDFOREACH(file) diff --git a/ROS-groovy/moveit_simple_controller_manager/devel/.catkin b/ROS-groovy/moveit_simple_controller_manager/devel/.catkin new file mode 100644 index 0000000..8609534 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/devel/.catkin @@ -0,0 +1 @@ +/home/alessio/catkin_workspace/src/moveit_simple_controller_manager \ No newline at end of file diff --git a/ROS-groovy/moveit_simple_controller_manager/devel/.rosinstall b/ROS-groovy/moveit_simple_controller_manager/devel/.rosinstall new file mode 100644 index 0000000..fc9cc1f --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/devel/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /home/alessio/catkin_workspace/src/moveit_simple_controller_manager/devel/setup.sh diff --git a/ROS-groovy/moveit_simple_controller_manager/devel/_setup_util.py b/ROS-groovy/moveit_simple_controller_manager/devel/_setup_util.py new file mode 100644 index 0000000..2d83b6e --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/devel/_setup_util.py @@ -0,0 +1,250 @@ +#!/usr/bin/env python + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +'''This file generates shell code for the setup.SHELL scripts to set environment variables''' + +from __future__ import print_function +import argparse +import copy +import os +import platform +import sys + +# environment at generation time +CMAKE_PREFIX_PATH = ''.split(';') +setup_dir = '/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/devel' +if setup_dir and setup_dir not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, setup_dir) +CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'CPATH': 'include', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': 'lib', + 'PATH': 'bin', + 'PKG_CONFIG_PATH': 'lib/pkgconfig', + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + ''' + Generate shell code to reset environment variables + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + ''' + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolder = env_var_subfolders[key] + value = _rollback_env_variable(unmodified_environ, key, subfolder) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolder): + ''' + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolder: str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + ''' + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False): + ''' + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + ''' + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte'))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + ''' + Generate shell code to prepend environment variables + for the all workspaces. + ''' + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted([key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH']): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolder): + ''' + Return the prefix to prepend to the environment variable NAME, adding any path in NEW_PATHS_STR without creating duplicate or empty items. + ''' + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if subfolder: + path = os.path.join(path, subfolder) + # exclude any path already in env and any path we already added + if path not in environ_paths and path not in checked_paths: + checked_paths.append(path) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + ''' + Generate shell code with found environment hooks + for the all workspaces. + ''' + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + specific_env_hooks = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + generic_env_hooks.remove(generic_env_hooks_by_filename[filename]) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + specific_env_hooks.remove(specific_env_hooks_by_filename[filename]) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS', os.pathsep.join(generic_env_hooks + specific_env_hooks))) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + exit(1) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + sys.exit(0) diff --git a/ROS-groovy/moveit_simple_controller_manager/devel/env.sh b/ROS-groovy/moveit_simple_controller_manager/devel/env.sh new file mode 100644 index 0000000..85823f9 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/devel/env.sh @@ -0,0 +1,11 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +else + . "/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/devel/setup.sh" + exec "$@" +fi diff --git a/ROS-groovy/moveit_simple_controller_manager/devel/etc/catkin/profile.d/05.catkin-test-results.sh b/ROS-groovy/moveit_simple_controller_manager/devel/etc/catkin/profile.d/05.catkin-test-results.sh new file mode 100644 index 0000000..003db81 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/devel/etc/catkin/profile.d/05.catkin-test-results.sh @@ -0,0 +1,4 @@ +# generated from catkin/cmake/env-hooks/05.catkin-test-results.sh.develspace.in + +export CATKIN_TEST_RESULTS_DIR="/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/test_results" +export ROS_TEST_RESULTS_DIR="$CATKIN_TEST_RESULTS_DIR" diff --git a/ROS-groovy/moveit_simple_controller_manager/devel/etc/catkin/profile.d/05.catkin_make.bash b/ROS-groovy/moveit_simple_controller_manager/devel/etc/catkin/profile.d/05.catkin_make.bash new file mode 100644 index 0000000..7629613 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/devel/etc/catkin/profile.d/05.catkin_make.bash @@ -0,0 +1,63 @@ +function _catkin_make() +{ + local cur prev + _init_completion -s || return + + # autocomplete path arguments for -C, --directory, --source, --build + case $prev in + -C|--directory|--source|--build) + _filedir -d + return 0 + ;; + esac + + if [[ "$cur" == -DCMAKE_BUILD_TYPE=* ]]; then + # autocomplete CMake argument CMAKE_BUILD_TYPE with its options + COMPREPLY=( $( compgen -W "None Debug Release RelWithDebInfo MinSizeRel" -- "${cur:19}" ) ) + elif [[ "$cur" == -DCATKIN_ENABLE_TESTING=* ]]; then + # autocomplete catkin argument CATKIN_ENABLE_TESTING with its options + COMPREPLY=( $( compgen -W "0 1" -- "${cur:24}" ) ) + elif [[ "$cur" == -DCATKIN_DEVEL_PREFIX=* || "$cur" == -DCMAKE_INSTALL_PREFIX=* ]]; then + COMPREPLY=() + elif [[ "$cur" == -* ]]; then + local opts="$( _parse_help "$1" )" + [[ $opts ]] || opts="$( _parse_usage "$1" )" + if [[ "$cur" == -* ]]; then + # suggest some common CMake arguments + opts="$opts -DCATKIN_DEVEL_PREFIX= -DCATKIN_ENABLE_TESTING= -DCMAKE_INSTALL_PREFIX= -DCMAKE_BUILD_TYPE=" + fi + COMPREPLY=( $( compgen -W "$opts" -- "$cur" ) ) + [[ $COMPREPLY == *= ]] && compopt -o nospace + else + # check if custom workspace root has been specified on the command line + local workspace_dir="." + for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do + if [[ ${COMP_WORDS[i]} == -C || ${COMP_WORDS[i]} == --directory ]]; then + # eval to expand tilde + eval workspace_dir=${COMP_WORDS[i+1]} + fi + done + # check if custom build folder has been specified on the command line + local build_dir="build" + for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do + if [[ ${COMP_WORDS[i]} == --build ]]; then + # eval to expand tilde + eval build_dir=${COMP_WORDS[i+1]} + fi + done + + # determine location of Makefile + local makefile_dir + if [[ "$build_dir" = /* ]]; then + makefile_dir="$build_dir" + else + makefile_dir="$workspace_dir/$build_dir" + fi + COMPREPLY=() + if [ -f "$makefile_dir/Makefile" ]; then + cur=${COMP_WORDS[COMP_CWORD]} + COMPREPLY=( $( compgen -W "`make -C $makefile_dir -qp 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur )) + fi + fi +} && +complete -F _catkin_make catkin_make diff --git a/ROS-groovy/moveit_simple_controller_manager/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash b/ROS-groovy/moveit_simple_controller_manager/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash new file mode 100644 index 0000000..d0ace87 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash @@ -0,0 +1,61 @@ +function _catkin_make_isolated() +{ + local cur prev + _init_completion -s || return + + # autocomplete path arguments for -C, --directory, --source, --build, --devel, --install + case $prev in + -C|--directory|--source|--build|--devel|--install) + _filedir -d + return 0 + ;; + esac + + if [[ "$cur" == -DCMAKE_BUILD_TYPE=* ]]; then + # autocomplete CMake argument CMAKE_BUILD_TYPE with its options + COMPREPLY=( $( compgen -W "None Debug Release RelWithDebInfo MinSizeRel" -- "${cur:19}" ) ) + elif [[ "$cur" == -DCATKIN_ENABLE_TESTING=* ]]; then + # autocomplete catkin argument CATKIN_ENABLE_TESTING with its options + COMPREPLY=( $( compgen -W "0 1" -- "${cur:24}" ) ) + elif [[ "$cur" == -* ]]; then + local opts="$( _parse_help "$1" )" + [[ $opts ]] || opts="$( _parse_usage "$1" )" + if [[ "$cur" == -* ]]; then + # suggest some common CMake arguments + opts="$opts -DCATKIN_ENABLE_TESTING= -DCMAKE_BUILD_TYPE=" + fi + COMPREPLY=( $( compgen -W "$opts" -- "$cur" ) ) + [[ $COMPREPLY == *= ]] && compopt -o nospace + else + # check if custom workspace root has been specified on the command line + local workspace_dir="." + for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do + if [[ ${COMP_WORDS[i]} == -C || ${COMP_WORDS[i]} == --directory ]]; then + # eval to expand tilde + eval workspace_dir=${COMP_WORDS[i+1]} + fi + done + # check if custom build folder has been specified on the command line + local build_dir="build_isolated" + for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do + if [[ ${COMP_WORDS[i]} == --build ]]; then + # eval to expand tilde + eval build_dir=${COMP_WORDS[i+1]} + fi + done + + # determine location of Makefile + local makefile_dir + if [[ "$build_dir" = /* ]]; then + makefile_dir="$build_dir" + else + makefile_dir="$workspace_dir/$build_dir" + fi + COMPREPLY=() + if [ -f "$makefile_dir/Makefile" ]; then + cur=${COMP_WORDS[COMP_CWORD]} + COMPREPLY=( $( compgen -W "`make -C $makefile_dir -qp 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur )) + fi + fi +} && +complete -F _catkin_make_isolated catkin_make_isolated diff --git a/ROS-groovy/moveit_simple_controller_manager/devel/lib/pkgconfig/moveit_simple_controller_manager.pc b/ROS-groovy/moveit_simple_controller_manager/devel/lib/pkgconfig/moveit_simple_controller_manager.pc new file mode 100644 index 0000000..c1e6eff --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/devel/lib/pkgconfig/moveit_simple_controller_manager.pc @@ -0,0 +1,8 @@ +prefix=/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/devel + +Name: moveit_simple_controller_manager +Description: Description of moveit_simple_controller_manager +Version: 0.5.2 +Cflags: +Libs: -L/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/devel/lib +Requires: moveit_core diff --git a/ROS-groovy/moveit_simple_controller_manager/devel/setup.bash b/ROS-groovy/moveit_simple_controller_manager/devel/setup.bash new file mode 100644 index 0000000..f008144 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/devel/setup.bash @@ -0,0 +1,5 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash +. "/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/devel/setup.sh" diff --git a/ROS-groovy/moveit_simple_controller_manager/devel/setup.sh b/ROS-groovy/moveit_simple_controller_manager/devel/setup.sh new file mode 100644 index 0000000..185b5e5 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/devel/setup.sh @@ -0,0 +1,76 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file + +_SETUP_UTIL="/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/devel/_setup_util.py" + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +export CPATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +_SETUP_TMP=`mktemp /tmp/setup.sh.XXXXXXXXXX` +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ > $_SETUP_TMP +. $_SETUP_TMP +rm -f $_SETUP_TMP + +# save value of IFS, including if it was unset +# the "+x" syntax helps differentiate unset from empty +_IFS=$IFS +if [ -z ${IFS+x} ]; then + _IFS_WAS_UNSET=1 +fi + +# source all environment hooks +IFS=":" +for _envfile in $_CATKIN_ENVIRONMENT_HOOKS; do + # restore value of IFS, including if it was unset + IFS=$_IFS + if [ $_IFS_WAS_UNSET ]; then + unset IFS + fi + . "$_envfile" +done + +# restore value of IFS, including if it was unset +IFS=$_IFS +if [ $_IFS_WAS_UNSET ]; then + unset IFS + unset _IFS_WAS_UNSET +fi +unset _IFS + +unset _CATKIN_ENVIRONMENT_HOOKS diff --git a/ROS-groovy/moveit_simple_controller_manager/devel/setup.zsh b/ROS-groovy/moveit_simple_controller_manager/devel/setup.zsh new file mode 100644 index 0000000..d1d9857 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/devel/setup.zsh @@ -0,0 +1,7 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh +emulate sh # emulate POSIX +. "/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/devel/setup.sh" +emulate zsh # back to zsh mode diff --git a/ROS-groovy/moveit_simple_controller_manager/devel/share/moveit_simple_controller_manager/cmake/moveit_simple_controller_managerConfig-version.cmake b/ROS-groovy/moveit_simple_controller_manager/devel/share/moveit_simple_controller_manager/cmake/moveit_simple_controller_managerConfig-version.cmake new file mode 100644 index 0000000..8b9ec91 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/devel/share/moveit_simple_controller_manager/cmake/moveit_simple_controller_managerConfig-version.cmake @@ -0,0 +1,14 @@ +# generated from catkin/cmake/template/pkgConfig-version.cmake.in +set(PACKAGE_VERSION "0.5.2") + +set(PACKAGE_VERSION_EXACT False) +set(PACKAGE_VERSION_COMPATIBLE False) + +if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_EXACT True) + set(PACKAGE_VERSION_COMPATIBLE True) +endif() + +if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}") + set(PACKAGE_VERSION_COMPATIBLE True) +endif() diff --git a/ROS-groovy/moveit_simple_controller_manager/devel/share/moveit_simple_controller_manager/cmake/moveit_simple_controller_managerConfig.cmake b/ROS-groovy/moveit_simple_controller_manager/devel/share/moveit_simple_controller_manager/cmake/moveit_simple_controller_managerConfig.cmake new file mode 100644 index 0000000..855ff74 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/devel/share/moveit_simple_controller_manager/cmake/moveit_simple_controller_managerConfig.cmake @@ -0,0 +1,174 @@ +# generated from catkin/cmake/template/pkgConfig.cmake.in + +# append elements to a list if they are not already in the list +# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig +# self contained +macro(_list_append_unique listname) + foreach(_item ${ARGN}) + list(FIND ${listname} ${_item} _index) + if(_index EQUAL -1) + list(APPEND ${listname} ${_item}) + endif() + endforeach() +endmacro() + +# remove duplicate libraries, generalized from PCLConfig.cmake.in +macro(_remove_duplicate_libraries _unfiltered_libraries _final_filtered_libraries) + set(_filtered_libraries) + set(_debug_libraries) + set(_optimized_libraries) + set(_other_libraries) + set(_waiting_for_debug 0) + set(_waiting_for_optimized 0) + set(_library_position -1) + foreach(library ${${_unfiltered_libraries}}) + if("${library}" STREQUAL "debug") + set(_waiting_for_debug 1) + elseif("${library}" STREQUAL "optimized") + set(_waiting_for_optimized 1) + elseif(_waiting_for_debug) + list(FIND _debug_libraries "${library}" library_position) + if(library_position EQUAL -1) + list(APPEND ${_filtered_libraries} debug ${library}) + list(APPEND _debug_libraries ${library}) + endif() + set(_waiting_for_debug 0) + elseif(_waiting_for_optimized) + list(FIND _optimized_libraries "${library}" library_position) + if(library_position EQUAL -1) + list(APPEND ${_filtered_libraries} optimized ${library}) + list(APPEND _optimized_libraries ${library}) + endif() + set(_waiting_for_optimized 0) + else("${library}" STREQUAL "debug") + list(FIND _other_libraries "${library}" library_position) + if(library_position EQUAL -1) + list(APPEND ${_filtered_libraries} ${library}) + list(APPEND _other_libraries ${library}) + endif() + endif("${library}" STREQUAL "debug") + endforeach(library) + set(_final_filtered_libraries _filtered_libraries) +endmacro() + + +if(moveit_simple_controller_manager_CONFIG_INCLUDED) + return() +endif() +set(moveit_simple_controller_manager_CONFIG_INCLUDED TRUE) + +# set variables for source/devel/install prefixes +if("TRUE" STREQUAL "TRUE") + set(moveit_simple_controller_manager_SOURCE_PREFIX /home/alessio/catkin_workspace/src/moveit_simple_controller_manager) + set(moveit_simple_controller_manager_DEVEL_PREFIX /home/alessio/catkin_workspace/src/moveit_simple_controller_manager/devel) + set(moveit_simple_controller_manager_INSTALL_PREFIX "") + set(moveit_simple_controller_manager_PREFIX ${moveit_simple_controller_manager_DEVEL_PREFIX}) +else() + set(moveit_simple_controller_manager_SOURCE_PREFIX "") + set(moveit_simple_controller_manager_DEVEL_PREFIX "") + set(moveit_simple_controller_manager_INSTALL_PREFIX /usr/local) + set(moveit_simple_controller_manager_PREFIX ${moveit_simple_controller_manager_INSTALL_PREFIX}) +endif() + +# warn when using a deprecated package +if(NOT "" STREQUAL "") + set(_msg "WARNING: package 'moveit_simple_controller_manager' is deprecated") + # append custom deprecation text if available + if(NOT "" STREQUAL "TRUE") + set(_msg "${_msg} ()") + endif() + message("${_msg}") +endif() + +# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project +set(moveit_simple_controller_manager_FOUND_CATKIN_PROJECT TRUE) + +if(NOT "" STREQUAL "") + set(moveit_simple_controller_manager_INCLUDE_DIRS "") + set(absolute_include_dirs "") + foreach(idir ${absolute_include_dirs}) + if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir}) + set(include ${idir}) + elseif(IS_DIRECTORY /home/alessio/catkin_workspace/src/moveit_simple_controller_manager/${idir}) + set(include /home/alessio/catkin_workspace/src/moveit_simple_controller_manager/${idir}) + else() + message(FATAL_ERROR "Project 'moveit_simple_controller_manager' specifies '${idir}' as an include dir, which is not found. It does neither exist as an absolute directory nor in '/home/alessio/catkin_workspace/src/moveit_simple_controller_manager/${idir}'. Ask the maintainer 'Michael Ferguson ' to fix it.") + endif() + _list_append_unique(moveit_simple_controller_manager_INCLUDE_DIRS ${include}) + endforeach() +endif() + +set(libraries "") +foreach(library ${libraries}) + if(TARGET ${library}) + list(APPEND moveit_simple_controller_manager_LIBRARIES ${library}) + elseif(IS_ABSOLUTE ${library}) + list(APPEND moveit_simple_controller_manager_LIBRARIES ${library}) + else() + set(lib_path "") + set(lib "${library}-NOTFOUND") + # since the path where the library is found is returned we have to iterate over the paths manually + foreach(path /home/alessio/catkin_workspace/src/moveit_simple_controller_manager/devel/lib;/opt/ros/groovy/lib) + find_library(lib ${library} + PATHS ${path} + NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH) + if(lib) + set(lib_path ${path}) + break() + endif() + endforeach() + if(lib) + _list_append_unique(moveit_simple_controller_manager_LIBRARY_DIRS ${lib_path}) + list(APPEND moveit_simple_controller_manager_LIBRARIES ${lib}) + else() + # as a fall back for non-catkin libraries try to search globally + find_library(lib ${library}) + if(NOT lib) + message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'. The library is neither a target nor built/installed properly. Did you compile project 'moveit_simple_controller_manager'? Did you find_package() it before the subdirectory containing its code is included?") + endif() + list(APPEND moveit_simple_controller_manager_LIBRARIES ${lib}) + endif() + endif() +endforeach() + +set(moveit_simple_controller_manager_EXPORTED_TARGETS "") +# create dummy targets for exported code generation targets to make life of users easier +foreach(t ${moveit_simple_controller_manager_EXPORTED_TARGETS}) + if(NOT TARGET ${t}) + add_custom_target(${t}) + endif() +endforeach() + +set(depends "moveit_core") +foreach(depend ${depends}) + string(REPLACE " " ";" depend_list ${depend}) + # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls + list(GET depend_list 0 moveit_simple_controller_manager_dep) + list(LENGTH depend_list count) + if(${count} EQUAL 1) + # simple dependencies must only be find_package()-ed once + if(NOT ${moveit_simple_controller_manager_dep}_FOUND) + find_package(${moveit_simple_controller_manager_dep} 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a/ROS-groovy/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h b/ROS-groovy/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h new file mode 100644 index 0000000..aa09efb --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/include/moveit_simple_controller_manager/action_based_controller_handle.h @@ -0,0 +1,177 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Unbounded Robotics Inc. + * Copyright (c) 2012, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Willow Garage nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +/* Author: Michael Ferguson, Ioan Sucan, E. Gil Jones */ + +#ifndef MOVEIT_PLUGINS_ACTION_BASED_CONTROLLER_HANDLE +#define MOVEIT_PLUGINS_ACTION_BASED_CONTROLLER_HANDLE + +#include +#include +#include + +namespace moveit_simple_controller_manager +{ + +/* + * This exist solely to inject addJoint/getJoints into base non-templated class. + */ +class ActionBasedControllerHandleBase : public moveit_controller_manager::MoveItControllerHandle +{ +public: + ActionBasedControllerHandleBase(const std::string &name) : + moveit_controller_manager::MoveItControllerHandle(name) + { + } + + virtual void addJoint(const std::string &name) = 0; + virtual void getJoints(std::vector &joints) = 0; +}; + +MOVEIT_CLASS_FORWARD(ActionBasedControllerHandleBase); + + +/* + * This is a simple base class, which handles all of the action creation/etc + */ +template +class ActionBasedControllerHandle : public ActionBasedControllerHandleBase +{ + +public: + ActionBasedControllerHandle(const std::string &name, const std::string &ns) : + ActionBasedControllerHandleBase(name), + namespace_(ns), + done_(true) + { + controller_action_client_.reset(new actionlib::SimpleActionClient(getActionName(), true)); + unsigned int attempts = 0; + while (ros::ok() && !controller_action_client_->waitForServer(ros::Duration(5.0)) && ++attempts < 3) + ROS_INFO_STREAM("MoveitSimpleControllerManager: Waiting for " << getActionName() << " to come up"); + + if (!controller_action_client_->isServerConnected()) + { + ROS_ERROR_STREAM("MoveitSimpleControllerManager: Action client not connected: " << getActionName()); + controller_action_client_.reset(); + } + + last_exec_ = moveit_controller_manager::ExecutionStatus::SUCCEEDED; + } + + bool isConnected() const + { + return controller_action_client_; + } + + virtual bool cancelExecution() + { + if (!controller_action_client_) + return false; + if (!done_) + { + ROS_INFO_STREAM("MoveitSimpleControllerManager: Cancelling execution for " << name_); + controller_action_client_->cancelGoal(); + last_exec_ = moveit_controller_manager::ExecutionStatus::PREEMPTED; + done_ = true; + } + return true; + } + + virtual bool waitForExecution(const ros::Duration &timeout = ros::Duration(0)) + { + if (controller_action_client_ && !done_) + return controller_action_client_->waitForResult(timeout); + return true; + } + + virtual moveit_controller_manager::ExecutionStatus getLastExecutionStatus() + { + return last_exec_; + } + + virtual void addJoint(const std::string &name) + { + joints_.push_back(name); + } + + virtual void getJoints(std::vector &joints) + { + joints = joints_; + } + +protected: + + std::string getActionName(void) const + { + if (namespace_.empty()) + return name_; + else + return name_ +"/" + namespace_; + } + + void finishControllerExecution(const actionlib::SimpleClientGoalState& state) + { + ROS_DEBUG_STREAM("MoveitSimpleControllerManager: Controller " << name_ << " is done with state " << state.toString() << ": " << state.getText()); + if (state == actionlib::SimpleClientGoalState::SUCCEEDED) + last_exec_ = moveit_controller_manager::ExecutionStatus::SUCCEEDED; + else + if (state == actionlib::SimpleClientGoalState::ABORTED) + last_exec_ = moveit_controller_manager::ExecutionStatus::ABORTED; + else + if (state == actionlib::SimpleClientGoalState::PREEMPTED) + last_exec_ = moveit_controller_manager::ExecutionStatus::PREEMPTED; + else + last_exec_ = moveit_controller_manager::ExecutionStatus::FAILED; + done_ = true; + } + + /* execution status */ + moveit_controller_manager::ExecutionStatus last_exec_; + bool done_; + + /* the controller namespace, for instance, topics will map to name/ns/goal, name/ns/result, etc */ + std::string namespace_; + + /* the joints controlled by this controller */ + std::vector joints_; + + /* action client */ + boost::shared_ptr > controller_action_client_; +}; + + +} // end namespace moveit_simple_controller_manager + +#endif // MOVEIT_PLUGINS_ACTION_BASED_CONTROLLER_HANDLE diff --git a/ROS-groovy/moveit_simple_controller_manager/include/moveit_simple_controller_manager/follow_joint_trajectory_controller_handle.h b/ROS-groovy/moveit_simple_controller_manager/include/moveit_simple_controller_manager/follow_joint_trajectory_controller_handle.h new file mode 100644 index 0000000..0ecdd92 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/include/moveit_simple_controller_manager/follow_joint_trajectory_controller_handle.h @@ -0,0 +1,110 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Unbounded Robotics Inc. + * Copyright (c) 2012, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Willow Garage nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +/* Author: Michael Ferguson, Ioan Sucan, E. Gil Jones */ + +#ifndef MOVEIT_PLUGINS_FOLLOW_TRAJECTORY_CONTROLLER_HANDLE +#define MOVEIT_PLUGINS_FOLLOW_TRAJECTORY_CONTROLLER_HANDLE + +#include +#include + +namespace moveit_simple_controller_manager +{ + +/* + * This is generally used for arms, but could also be used for multi-dof hands, + * or anything using a control_mgs/FollowJointTrajectoryAction. + */ +class FollowJointTrajectoryControllerHandle : public ActionBasedControllerHandle +{ +public: + + FollowJointTrajectoryControllerHandle(const std::string &name, const std::string &action_ns) : + ActionBasedControllerHandle(name, action_ns) + { + } + + virtual bool sendTrajectory(const moveit_msgs::RobotTrajectory &trajectory) + { + ROS_DEBUG_STREAM("FollowJointTrajectoryController: new trajectory to " << name_); + + if (!controller_action_client_) + return false; + + if (!trajectory.multi_dof_joint_trajectory.points.empty()) + { + ROS_ERROR("FollowJointTrajectoryController: cannot execute multi-dof trajectories."); + return false; + } + + if (done_) + ROS_DEBUG_STREAM("FollowJointTrajectoryController: sending trajectory to " << name_); + else + ROS_DEBUG_STREAM("FollowJointTrajectoryController: sending continuation for the currently executed trajectory to " << name_); + + control_msgs::FollowJointTrajectoryGoal goal; + goal.trajectory = trajectory.joint_trajectory; + controller_action_client_->sendGoal(goal, + boost::bind(&FollowJointTrajectoryControllerHandle::controllerDoneCallback, this, _1, _2), + boost::bind(&FollowJointTrajectoryControllerHandle::controllerActiveCallback, this), + boost::bind(&FollowJointTrajectoryControllerHandle::controllerFeedbackCallback, this, _1)); + done_ = false; + last_exec_ = moveit_controller_manager::ExecutionStatus::RUNNING; + return true; + } + +protected: + + void controllerDoneCallback(const actionlib::SimpleClientGoalState& state, + const control_msgs::FollowJointTrajectoryResultConstPtr& result) + { + finishControllerExecution(state); + } + + void controllerActiveCallback() + { + ROS_DEBUG_STREAM("FollowJointTrajectoryController: " << name_ << " started execution"); + } + + void controllerFeedbackCallback(const control_msgs::FollowJointTrajectoryFeedbackConstPtr& feedback) + { + } +}; + + +} // end namespace moveit_simple_controller_manager + +#endif // MOVEIT_PLUGINS_FOLLOW_TRAJECTORY_CONTROLLER_HANDLE diff --git a/ROS-groovy/moveit_simple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h b/ROS-groovy/moveit_simple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h new file mode 100644 index 0000000..095b48f --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/include/moveit_simple_controller_manager/gripper_controller_handle.h @@ -0,0 +1,183 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Unbounded Robotics Inc. + * Copyright (c) 2012, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Willow Garage nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +/* Author: Michael Ferguson, Ioan Sucan, E. Gil Jones */ + +#ifndef MOVEIT_PLUGINS_GRIPPER_CONTROLLER_HANDLE +#define MOVEIT_PLUGINS_GRIPPER_CONTROLLER_HANDLE + +#include +#include +#include + +namespace moveit_simple_controller_manager +{ + + +/* + * This is an interface for a gripper using control_msgs/GripperCommandAction action interface (single DOF). + */ +class GripperControllerHandle : public ActionBasedControllerHandle +{ +public: + /* Topics will map to name/ns/goal, name/ns/result, etc */ + GripperControllerHandle(const std::string &name, const std::string &ns) : + ActionBasedControllerHandle(name, ns), + allow_failure_(false) + { + } + + virtual bool sendTrajectory(const moveit_msgs::RobotTrajectory &trajectory) + { + ROS_DEBUG_STREAM_NAMED("GripperController", "Received new trajectory for " << name_); + + if (!controller_action_client_) + return false; + + if (!trajectory.multi_dof_joint_trajectory.points.empty()) + { + ROS_ERROR_NAMED("GripperController", "Gripper cannot execute multi-dof trajectories."); + return false; + } + + if (trajectory.joint_trajectory.points.empty()) + { + ROS_ERROR_NAMED("GripperController", "GripperController expects a joint trajectory with one point only, but %u provided)", (unsigned int)trajectory.joint_trajectory.points.size()); + return false; + } + if (trajectory.joint_trajectory.points.size() > 1) + ROS_WARN_NAMED("GripperController", "GripperController expects a joint trajectory with one point only, but %u provided)", (unsigned int)trajectory.joint_trajectory.points.size()); + + if (trajectory.joint_trajectory.joint_names.empty()) + { + ROS_ERROR_NAMED("GripperController", "No joint names specified"); + return false; + } + + int gripper_joint_index = -1; + for (std::size_t i = 0 ; i < trajectory.joint_trajectory.joint_names.size() ; ++i) + if (command_joints_.find(trajectory.joint_trajectory.joint_names[i]) != command_joints_.end()) + { + gripper_joint_index = i; + break; + } + if (gripper_joint_index < 0) + { + ROS_WARN_NAMED("GripperController", "No command_joint was specified for the MoveIt controller gripper handle. Please see GripperControllerHandle::addCommandJoint() and GripperControllerHandle::setCommandJoint(). Assuming index 0."); + gripper_joint_index = 0; + } + + if (trajectory.joint_trajectory.points[0].positions.size() <= gripper_joint_index) + { + ROS_ERROR_NAMED("GripperController", "GripperController expects a joint trajectory with one point that specifies at least the position of joint '%s', but insufficient positions provided", + trajectory.joint_trajectory.joint_names[gripper_joint_index].c_str()); + return false; + } + + /* TODO: currently sending velocity as effort, make this better. */ + control_msgs::GripperCommandGoal goal; + if (trajectory.joint_trajectory.points[0].velocities.size() > gripper_joint_index) + goal.command.max_effort = trajectory.joint_trajectory.points[0].velocities[gripper_joint_index]; + + goal.command.position = trajectory.joint_trajectory.points[0].positions[gripper_joint_index]; + controller_action_client_->sendGoal(goal, + boost::bind(&GripperControllerHandle::controllerDoneCallback, this, _1, _2), + boost::bind(&GripperControllerHandle::controllerActiveCallback, this), + boost::bind(&GripperControllerHandle::controllerFeedbackCallback, this, _1)); + done_ = false; + last_exec_ = moveit_controller_manager::ExecutionStatus::RUNNING; + return true; + } + + void setCommandJoint(const std::string& name) + { + command_joints_.clear(); + addCommandJoint(name); + } + + void addCommandJoint(const std::string& name) + { + command_joints_.insert(name); + } + + void allowFailure(bool allow) + { + allow_failure_ = allow; + } + +private: + + void controllerDoneCallback(const actionlib::SimpleClientGoalState& state, + const control_msgs::GripperCommandResultConstPtr& result) + { + if (state == actionlib::SimpleClientGoalState::ABORTED && allow_failure_) + finishControllerExecution(actionlib::SimpleClientGoalState::SUCCEEDED); + else + finishControllerExecution(state); + } + + void controllerActiveCallback() + { + ROS_DEBUG_STREAM("GripperController: " << name_ << " started execution"); + } + + void controllerFeedbackCallback(const control_msgs::GripperCommandFeedbackConstPtr& feedback) + { + } + + /* + * Some gripper drivers may indicate a failure if they do not close all the way when + * an object is in the gripper. + */ + bool allow_failure_; + + /* + * A GripperCommand message has only a single float64 for the + * "command", thus only a single joint angle can be sent -- however, + * due to the complexity of making grippers look correct in a URDF, + * they typically have >1 joints. The "command_joint" is the joint + * whose position value will be sent in the GripperCommand action. A + * set of names is provided for acceptable joint names. If any of + * the joints specified is found, the value corresponding to that + * joint is considered the command. E.g., for a two-arm robot, we + * could have two names: one for the joint of each arm. + */ + std::set command_joints_; +}; + + +} // end namespace moveit_simple_controller_manager + +#endif // MOVEIT_PLUGINS_GRIPPER_CONTROLLER_HANDLE diff --git a/ROS-groovy/moveit_simple_controller_manager/include/moveit_simple_controller_manager/multi_dof_follow_joint_trajectory_handle.h b/ROS-groovy/moveit_simple_controller_manager/include/moveit_simple_controller_manager/multi_dof_follow_joint_trajectory_handle.h new file mode 100644 index 0000000..86ea4ca --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/include/moveit_simple_controller_manager/multi_dof_follow_joint_trajectory_handle.h @@ -0,0 +1,107 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Unbounded Robotics Inc. + * Copyright (c) 2012, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Willow Garage nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +/* Author: Michael Ferguson, Ioan Sucan, E. Gil Jones */ + +#ifndef MULTI_DOF_FOLLOW_JOINT_CONTROLLER_HANDLE +#define MULTI_DOF_FOLLOW_JOINT_CONTROLLER_HANDLE + +#include +#include + +namespace moveit_simple_controller_manager +{ + +class MultiDofFollowJointTrajectoryControllerHandle : public ActionBasedControllerHandle +{ + +public: + + MultiDofFollowJointTrajectoryControllerHandle(const std::string &name, const std::string &action_ns) : + ActionBasedControllerHandle(name, action_ns) + { + } + + virtual bool sendTrajectory(const moveit_msgs::RobotTrajectory &trajectory) + { + ROS_DEBUG_STREAM("MultiDofFollowJointTrajectoryController: new trajectory to " << name_); + + if (!controller_action_client_) + return false; + + if (trajectory.multi_dof_joint_trajectory.points.empty()) + { + ROS_ERROR("MultiDofFollowJointTrajectoryController: cannot execute single-dof trajectories."); + return false; + } + + if (done_) + ROS_DEBUG_STREAM("MultiDofFollowJointTrajectoryController: sending trajectory to " << name_); + else + ROS_DEBUG_STREAM("MultiDofFollowJointTrajectoryController: sending continuation for the currently executed trajectory to " << name_); + + action_controller::MultiDofFollowJointTrajectoryGoal goal; + goal.trajectory = trajectory.multi_dof_joint_trajectory; + controller_action_client_-> sendGoal(goal, + boost::bind(&MultiDofFollowJointTrajectoryControllerHandle::controllerDoneCallback, this, _1, _2), + boost::bind(&MultiDofFollowJointTrajectoryControllerHandle::controllerActiveCallback, this), + boost::bind(&MultiDofFollowJointTrajectoryControllerHandle::controllerFeedbackCallback, this, _1)); + done_ = false; + last_exec_ = moveit_controller_manager::ExecutionStatus::RUNNING; + return true; + } + +protected: + + void controllerDoneCallback(const actionlib::SimpleClientGoalState& state, + const action_controller::MultiDofFollowJointTrajectoryResultConstPtr& result) + { + finishControllerExecution(state); + } + + void controllerActiveCallback() + { + ROS_DEBUG_STREAM("MultiDofFollowJointTrajectoryController: " << name_ << " started execution"); + } + + void controllerFeedbackCallback(const action_controller::MultiDofFollowJointTrajectoryFeedbackConstPtr& feedback) + { + } +}; + + +} // end namespace moveit_simple_controller_manager + +#endif // MOVEIT_PLUGINS_FOLLOW_TRAJECTORY_CONTROLLER_HANDLE diff --git a/ROS-groovy/moveit_simple_controller_manager/moveit_simple_controller_manager_plugin_description.xml b/ROS-groovy/moveit_simple_controller_manager/moveit_simple_controller_manager_plugin_description.xml new file mode 100644 index 0000000..e199cb8 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/moveit_simple_controller_manager_plugin_description.xml @@ -0,0 +1,10 @@ + + + + + + + + diff --git a/ROS-groovy/moveit_simple_controller_manager/package.xml b/ROS-groovy/moveit_simple_controller_manager/package.xml new file mode 100644 index 0000000..098f42e --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/package.xml @@ -0,0 +1,34 @@ + + moveit_simple_controller_manager + 0.5.2 + A generic, simple controller manager plugin for MoveIt. + Michael Ferguson + Michael Ferguson + + BSD + + http://moveit.ros.org + https://github.com/ros-planning/moveit_plugins/issues + https://github.com/ros-planning/moveit_plugins + + catkin + + action_controller + moveit_core + roscpp + pluginlib + control_msgs + actionlib + + action_controller + moveit_core + roscpp + pluginlib + control_msgs + actionlib + + + + + + diff --git a/ROS-groovy/moveit_simple_controller_manager/package.xml~ b/ROS-groovy/moveit_simple_controller_manager/package.xml~ new file mode 100644 index 0000000..e34a854 --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/package.xml~ @@ -0,0 +1,32 @@ + + moveit_simple_controller_manager + 0.5.2 + A generic, simple controller manager plugin for MoveIt. + Michael Ferguson + Michael Ferguson + + BSD + + http://moveit.ros.org + https://github.com/ros-planning/moveit_plugins/issues + https://github.com/ros-planning/moveit_plugins + + catkin + + moveit_core + roscpp + pluginlib + control_msgs + actionlib + + moveit_core + roscpp + pluginlib + control_msgs + actionlib + + + + + + diff --git a/ROS-groovy/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp b/ROS-groovy/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp new file mode 100644 index 0000000..d42803a --- /dev/null +++ b/ROS-groovy/moveit_simple_controller_manager/src/moveit_simple_controller_manager.cpp @@ -0,0 +1,240 @@ +/********************************************************************* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Unbounded Robotics Inc. + * Copyright (c) 2012, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of the Willow Garage nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + *********************************************************************/ + +/* Author: Michael Ferguson, Ioan Sucan, E. Gil Jones */ + +#include +#include +#include +#include +#include +#include +#include +#include + +namespace moveit_simple_controller_manager +{ + + +class MoveItSimpleControllerManager : public moveit_controller_manager::MoveItControllerManager +{ +public: + + MoveItSimpleControllerManager() : node_handle_("~") +{ + if (!node_handle_.hasParam("controller_list")) + { + ROS_ERROR_STREAM("MoveitSimpleControllerManager: No controller_list specified."); + return; + } + + XmlRpc::XmlRpcValue controller_list; + node_handle_.getParam("controller_list", controller_list); + if (controller_list.getType() != XmlRpc::XmlRpcValue::TypeArray) + { + ROS_ERROR("MoveitSimpleControllerManager: controller_list should be specified as an array"); + return; + } + + /* actually create each controller */ + for (int i = 0 ; i < controller_list.size() ; ++i) + { + if (!controller_list[i].hasMember("name") || !controller_list[i].hasMember("joints")) + { + ROS_ERROR("MoveitSimpleControllerManager: Name and joints must be specifed for each controller"); + continue; + } + + try + { + std::string name = std::string(controller_list[i]["name"]); + + std::string action_ns; + if (controller_list[i].hasMember("ns")) + { + /* TODO: this used to be called "ns", renaming to "action_ns" and will remove in the future */ + action_ns = std::string(controller_list[i]["ns"]); + ROS_WARN("MoveitSimpleControllerManager: use of 'ns' is deprecated, use 'action_ns' instead."); + } + else if (controller_list[i].hasMember("action_ns")) + action_ns = std::string(controller_list[i]["action_ns"]); + else + ROS_WARN("MoveitSimpleControllerManager: please note that 'action_ns' no longer has a default value."); + + if (controller_list[i]["joints"].getType() != XmlRpc::XmlRpcValue::TypeArray) + { + ROS_ERROR_STREAM("MoveitSimpleControllerManager: The list of joints for controller " << name << " is not specified as an array"); + continue; + } + + if (!controller_list[i].hasMember("type")) + { + ROS_ERROR_STREAM("MoveitSimpleControllerManager: No type specified for controller " << name); + continue; + } + + std::string type = std::string(controller_list[i]["type"]); + + ActionBasedControllerHandleBasePtr new_handle; + if ( type == "GripperCommand" ) + { + new_handle.reset(new GripperControllerHandle(name, action_ns)); + if (static_cast(new_handle.get())->isConnected()) + { + if (controller_list[i].hasMember("command_joint")) + static_cast(new_handle.get())->setCommandJoint(controller_list[i]["command_joint"]); + else + static_cast(new_handle.get())->setCommandJoint(controller_list[i]["joints"][0]); + + if (controller_list[i].hasMember("allow_failure")) + static_cast(new_handle.get())->allowFailure(true); + + ROS_INFO_STREAM("MoveitSimpleControllerManager: Added GripperCommand controller for " << name ); + controllers_[name] = new_handle; + } + } + else if ( type == "FollowJointTrajectory" ) + { + new_handle.reset(new FollowJointTrajectoryControllerHandle(name, action_ns)); + if (static_cast(new_handle.get())->isConnected()) + { + ROS_INFO_STREAM("MoveitSimpleControllerManager: Added FollowJointTrajectory controller for " << name ); + controllers_[name] = new_handle; + } + } + else if(type == "MultiDofFollowJointTrajectory") + { + new_handle.reset(new MultiDofFollowJointTrajectoryControllerHandle(name, action_ns)); + if (static_cast(new_handle.get())->isConnected()) + { + ROS_INFO_STREAM("MoveitSimpleControllerManager: Added MultiDofFollowJointTrajectory controller for " << name ); + controllers_[name] = new_handle; + } + } + + /* add list of joints, used by controller manager and moveit */ + for (int j = 0 ; j < controller_list[i]["joints"].size() ; ++j) + controllers_[name]->addJoint(std::string(controller_list[i]["joints"][j])); + } + catch (...) + { + ROS_ERROR("MoveitSimpleControllerManager: Unable to parse controller information"); + } + } +} + + virtual ~MoveItSimpleControllerManager() + { + } + + /* + * Get a controller, by controller name (which was specified in the controllers.yaml + */ + virtual moveit_controller_manager::MoveItControllerHandlePtr getControllerHandle(const std::string &name) + { + std::map::const_iterator it = controllers_.find(name); + if (it != controllers_.end()) + return static_cast(it->second); + else + ROS_FATAL_STREAM("No such controller: " << name); + } + + /* + * Get the list of controller names. + */ + virtual void getControllersList(std::vector &names) + { + for (std::map::const_iterator it = controllers_.begin() ; it != controllers_.end() ; ++it) + names.push_back(it->first); + ROS_INFO_STREAM("Returned " << names.size() << " controllers in list"); + } + + /* + * This plugin assumes that all controllers are already active -- and if they are not, well, it has no way to deal with it anyways! + */ + virtual void getActiveControllers(std::vector &names) + { + getControllersList(names); + } + + /* + * Controller must be loaded to be active, see comment above about active controllers... + */ + virtual void getLoadedControllers(std::vector &names) + { + getControllersList(names); + } + + /* + * Get the list of joints that a controller can control. + */ + virtual void getControllerJoints(const std::string &name, std::vector &joints) + { + std::map::const_iterator it = controllers_.find(name); + if (it != controllers_.end()) + { + it->second->getJoints(joints); + } + else + { + ROS_WARN("The joints for controller '%s' are not known. Perhaps the controller configuration is not loaded on the param server?", name.c_str()); + joints.clear(); + } + } + + /* + * Controllers are all active and default -- that's what makes this thing simple. + */ + virtual moveit_controller_manager::MoveItControllerManager::ControllerState getControllerState(const std::string &name) + { + moveit_controller_manager::MoveItControllerManager::ControllerState state; + state.active_ = true; + state.default_ = true; + return state; + } + + /* Cannot switch our controllers */ + virtual bool switchControllers(const std::vector &activate, const std::vector &deactivate) { return false; } + +protected: + + ros::NodeHandle node_handle_; + std::map controllers_; +}; + +} // end namespace moveit_simple_controller_manager + +PLUGINLIB_EXPORT_CLASS(moveit_simple_controller_manager::MoveItSimpleControllerManager, + moveit_controller_manager::MoveItControllerManager); diff --git a/ROS-groovy/pr2_teleop/CMakeLists.txt b/ROS-groovy/pr2_teleop/CMakeLists.txt new file mode 100644 index 0000000..ff69e4e --- /dev/null +++ b/ROS-groovy/pr2_teleop/CMakeLists.txt @@ -0,0 +1,7 @@ +cmake_minimum_required(VERSION 2.4.6) +include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) +rosbuild_init() +rosbuild_add_executable(bin/teleop_pr2_keyboard src/teleop_pr2_keyboard.cpp) +rosbuild_add_executable(bin/teleop_pr2 src/teleop_pr2.cpp) +rosbuild_add_executable(bin/teleop_gripper src/teleop_gripper.cpp) +rosbuild_add_executable(bin/controller src/teleop_pr2_keyboard_modificato.cpp) diff --git a/ROS-groovy/pr2_teleop/CMakeLists.txt~ b/ROS-groovy/pr2_teleop/CMakeLists.txt~ new file mode 100644 index 0000000..7c56fd0 --- /dev/null +++ b/ROS-groovy/pr2_teleop/CMakeLists.txt~ @@ -0,0 +1,6 @@ +cmake_minimum_required(VERSION 2.4.6) +include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake) +rosbuild_init() +rosbuild_add_executable(bin/teleop_pr2_keyboard src/teleop_pr2_keyboard.cpp) +rosbuild_add_executable(bin/teleop_pr2 src/teleop_pr2.cpp) +rosbuild_add_executable(bin/teleop_gripper src/teleop_gripper.cpp) \ No newline at end of file diff --git a/ROS-groovy/pr2_teleop/Makefile b/ROS-groovy/pr2_teleop/Makefile new file mode 100644 index 0000000..bbd3fc6 --- /dev/null +++ b/ROS-groovy/pr2_teleop/Makefile @@ -0,0 +1 @@ +include $(shell rospack find mk)/cmake.mk diff --git a/ROS-groovy/pr2_teleop/README.txt b/ROS-groovy/pr2_teleop/README.txt new file mode 100644 index 0000000..f18344f --- /dev/null +++ b/ROS-groovy/pr2_teleop/README.txt @@ -0,0 +1 @@ +Modified version of pr2_teleop in order to create a node to teleoperate properly hector_quadrotor (src/teleop_pr2_keyboard_modificato.cpp) diff --git a/ROS-groovy/pr2_teleop/README.txt~ b/ROS-groovy/pr2_teleop/README.txt~ new file mode 100644 index 0000000..e69de29 diff --git a/ROS-groovy/pr2_teleop/android_lightning_pr2.png b/ROS-groovy/pr2_teleop/android_lightning_pr2.png new file mode 100644 index 0000000..53fbb2f Binary files /dev/null and b/ROS-groovy/pr2_teleop/android_lightning_pr2.png differ diff --git a/ROS-groovy/pr2_teleop/bin/controller b/ROS-groovy/pr2_teleop/bin/controller new file mode 100644 index 0000000..0e18c61 Binary files /dev/null and b/ROS-groovy/pr2_teleop/bin/controller differ diff --git a/ROS-groovy/pr2_teleop/bin/teleop_gripper b/ROS-groovy/pr2_teleop/bin/teleop_gripper new file mode 100644 index 0000000..9608434 Binary files /dev/null and b/ROS-groovy/pr2_teleop/bin/teleop_gripper differ diff --git a/ROS-groovy/pr2_teleop/bin/teleop_pr2 b/ROS-groovy/pr2_teleop/bin/teleop_pr2 new file mode 100644 index 0000000..0607c0c Binary files /dev/null and b/ROS-groovy/pr2_teleop/bin/teleop_pr2 differ diff --git a/ROS-groovy/pr2_teleop/bin/teleop_pr2_keyboard b/ROS-groovy/pr2_teleop/bin/teleop_pr2_keyboard new file mode 100644 index 0000000..17ae072 Binary files /dev/null and b/ROS-groovy/pr2_teleop/bin/teleop_pr2_keyboard differ diff --git a/ROS-groovy/pr2_teleop/build/CATKIN_IGNORE 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following are some of the valid targets for this Makefile:" + @echo "... all (the default if no target is provided)" + @echo "... clean" + @echo "... depend" + @echo "... ROSBUILD_genmsg_cpp" + @echo "... ROSBUILD_genmsg_lisp" + @echo "... ROSBUILD_gensrv_cpp" + @echo "... ROSBUILD_gensrv_lisp" + @echo "... _catkin_empty_exported_target" + @echo "... bin/controller" + @echo "... bin/teleop_gripper" + @echo "... bin/teleop_pr2" + @echo "... bin/teleop_pr2_keyboard" + @echo "... clean_test_results" + @echo "... doxygen" + @echo "... edit_cache" + @echo "... install" + @echo "... install/local" + @echo "... install/strip" + @echo "... list_install_components" + @echo "... rebuild_cache" + @echo "... rosbuild_clean-test-results" + @echo "... rosbuild_precompile" + @echo "... rosbuild_premsgsrvgen" + @echo "... rospack_genmsg" + @echo "... rospack_genmsg_libexe" + @echo "... rospack_gensrv" + @echo "... run_tests" + @echo "... test" + @echo "... test-future" + @echo "... test-results" + @echo "... test-results-run" + @echo "... tests" + @echo "... gtest" + @echo "... gtest_main" + @echo "... src/teleop_gripper.o" + @echo "... src/teleop_gripper.i" + @echo "... src/teleop_gripper.s" + @echo "... src/teleop_pr2.o" + @echo "... src/teleop_pr2.i" + @echo "... src/teleop_pr2.s" + @echo "... src/teleop_pr2_keyboard.o" + @echo "... src/teleop_pr2_keyboard.i" + @echo "... src/teleop_pr2_keyboard.s" + @echo "... src/teleop_pr2_keyboard_modificato.o" + @echo "... src/teleop_pr2_keyboard_modificato.i" + @echo "... src/teleop_pr2_keyboard_modificato.s" +.PHONY : help + + + +#============================================================================= +# Special targets to cleanup operation of make. + +# Special rule to run CMake to check the build system integrity. +# No rule that depends on this can have commands that come from listfiles +# because they might be regenerated. +cmake_check_build_system: + $(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0 +.PHONY : cmake_check_build_system + diff --git a/ROS-groovy/pr2_teleop/build/catkin/catkin_generated/version/package.cmake b/ROS-groovy/pr2_teleop/build/catkin/catkin_generated/version/package.cmake new file mode 100644 index 0000000..d353ec8 --- /dev/null +++ b/ROS-groovy/pr2_teleop/build/catkin/catkin_generated/version/package.cmake @@ -0,0 +1,8 @@ +set(_CATKIN_CURRENT_PACKAGE "catkin") +set(catkin_VERSION "0.5.71") +set(catkin_MAINTAINER "Dirk Thomas ") +set(catkin_BUILD_DEPENDS "gtest" "python-argparse" "python-catkin-pkg" "python-empy" "python-nose") +set(catkin_RUN_DEPENDS "cmake" "gtest" "python-argparse" "python-catkin-pkg" "python-empy" "python-nose") +set(catkin_DEPRECATED "") +set(catkin_BUILDTOOL_DEPENDS "cmake") +set(catkin_RUN_DEPENDS_python-catkin-pkg_VERSION_GTE "0.1.12") \ No newline at end of file diff --git a/ROS-groovy/pr2_teleop/build/catkin_generated/env_cached.sh b/ROS-groovy/pr2_teleop/build/catkin_generated/env_cached.sh new file mode 100644 index 0000000..b06f632 --- /dev/null +++ b/ROS-groovy/pr2_teleop/build/catkin_generated/env_cached.sh @@ -0,0 +1,11 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +else + . "/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/catkin_generated/setup_cached.sh" + exec "$@" +fi diff --git a/ROS-groovy/pr2_teleop/build/catkin_generated/generate_cached_setup.py b/ROS-groovy/pr2_teleop/build/catkin_generated/generate_cached_setup.py new file mode 100644 index 0000000..0f1ebc2 --- /dev/null +++ b/ROS-groovy/pr2_teleop/build/catkin_generated/generate_cached_setup.py @@ -0,0 +1,29 @@ +from __future__ import print_function +import argparse +import os +import stat +import sys + +# find the import for catkin's python package - either from source space or from an installed underlay +if os.path.exists(os.path.join('/opt/ros/groovy/share/catkin/cmake', 'catkinConfig.cmake.in')): + sys.path.insert(0, os.path.join('/opt/ros/groovy/share/catkin/cmake', '..', 'python')) +try: + from catkin.environment_cache import generate_environment_script +except ImportError: + # search for catkin package in all workspaces and prepend to path + for workspace in "/opt/ros/groovy".split(';'): + python_path = os.path.join(workspace, 'lib/python2.7/dist-packages') + if os.path.isdir(os.path.join(python_path, 'catkin')): + sys.path.insert(0, python_path) + break + from catkin.environment_cache import generate_environment_script + +code = generate_environment_script('/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/devel/env.sh') + +output_filename = '/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/catkin_generated/setup_cached.sh' +with open(output_filename, 'w') as f: + #print('Generate script for cached setup "%s"' % output_filename) + f.write('\n'.join(code)) + +mode = os.stat(output_filename).st_mode +os.chmod(output_filename, mode | stat.S_IXUSR) diff --git a/ROS-groovy/pr2_teleop/build/catkin_generated/installspace/.catkin b/ROS-groovy/pr2_teleop/build/catkin_generated/installspace/.catkin new file mode 100644 index 0000000..e69de29 diff --git a/ROS-groovy/pr2_teleop/build/catkin_generated/installspace/.rosinstall b/ROS-groovy/pr2_teleop/build/catkin_generated/installspace/.rosinstall new file mode 100644 index 0000000..6fb13af --- /dev/null +++ b/ROS-groovy/pr2_teleop/build/catkin_generated/installspace/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /usr/local/setup.sh diff --git a/ROS-groovy/pr2_teleop/build/catkin_generated/installspace/_setup_util.py b/ROS-groovy/pr2_teleop/build/catkin_generated/installspace/_setup_util.py new file mode 100644 index 0000000..62f9a41 --- /dev/null +++ b/ROS-groovy/pr2_teleop/build/catkin_generated/installspace/_setup_util.py @@ -0,0 +1,250 @@ +#!/usr/bin/env python + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +'''This file generates shell code for the setup.SHELL scripts to set environment variables''' + +from __future__ import print_function +import argparse +import copy +import os +import platform +import sys + +# environment at generation time +CMAKE_PREFIX_PATH = '/opt/ros/groovy'.split(';') +setup_dir = '/usr/local' +if setup_dir and setup_dir not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, setup_dir) +CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'CPATH': 'include', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': 'lib', + 'PATH': 'bin', + 'PKG_CONFIG_PATH': 'lib/pkgconfig', + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + ''' + Generate shell code to reset environment variables + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + ''' + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolder = env_var_subfolders[key] + value = _rollback_env_variable(unmodified_environ, key, subfolder) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolder): + ''' + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolder: str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + ''' + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False): + ''' + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + ''' + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte'))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + ''' + Generate shell code to prepend environment variables + for the all workspaces. + ''' + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted([key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH']): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolder): + ''' + Return the prefix to prepend to the environment variable NAME, adding any path in NEW_PATHS_STR without creating duplicate or empty items. + ''' + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if subfolder: + path = os.path.join(path, subfolder) + # exclude any path already in env and any path we already added + if path not in environ_paths and path not in checked_paths: + checked_paths.append(path) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + ''' + Generate shell code with found environment hooks + for the all workspaces. + ''' + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + specific_env_hooks = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + generic_env_hooks.remove(generic_env_hooks_by_filename[filename]) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + specific_env_hooks.remove(specific_env_hooks_by_filename[filename]) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS', os.pathsep.join(generic_env_hooks + specific_env_hooks))) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + exit(1) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + sys.exit(0) diff --git a/ROS-groovy/pr2_teleop/build/catkin_generated/installspace/env.sh b/ROS-groovy/pr2_teleop/build/catkin_generated/installspace/env.sh new file mode 100644 index 0000000..07d4376 --- /dev/null +++ b/ROS-groovy/pr2_teleop/build/catkin_generated/installspace/env.sh @@ -0,0 +1,11 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +else + . "/usr/local/setup.sh" + exec "$@" +fi diff --git a/ROS-groovy/pr2_teleop/build/catkin_generated/installspace/setup.bash b/ROS-groovy/pr2_teleop/build/catkin_generated/installspace/setup.bash new file mode 100644 index 0000000..00a56ab --- /dev/null +++ b/ROS-groovy/pr2_teleop/build/catkin_generated/installspace/setup.bash @@ -0,0 +1,5 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash +. "/usr/local/setup.sh" diff --git a/ROS-groovy/pr2_teleop/build/catkin_generated/installspace/setup.sh b/ROS-groovy/pr2_teleop/build/catkin_generated/installspace/setup.sh new file mode 100644 index 0000000..18d130c --- /dev/null +++ b/ROS-groovy/pr2_teleop/build/catkin_generated/installspace/setup.sh @@ -0,0 +1,76 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file + +_SETUP_UTIL="/usr/local/_setup_util.py" + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +export CPATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +_SETUP_TMP=`mktemp /tmp/setup.sh.XXXXXXXXXX` +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ > $_SETUP_TMP +. $_SETUP_TMP +rm -f $_SETUP_TMP + +# save value of IFS, including if it was unset +# the "+x" syntax helps differentiate unset from empty +_IFS=$IFS +if [ -z ${IFS+x} ]; then + _IFS_WAS_UNSET=1 +fi + +# source all environment hooks +IFS=":" +for _envfile in $_CATKIN_ENVIRONMENT_HOOKS; do + # restore value of IFS, including if it was unset + IFS=$_IFS + if [ $_IFS_WAS_UNSET ]; then + unset IFS + fi + . "$_envfile" +done + +# restore value of IFS, including if it was unset +IFS=$_IFS +if [ $_IFS_WAS_UNSET ]; then + unset IFS + unset _IFS_WAS_UNSET +fi +unset _IFS + +unset _CATKIN_ENVIRONMENT_HOOKS diff --git a/ROS-groovy/pr2_teleop/build/catkin_generated/installspace/setup.zsh b/ROS-groovy/pr2_teleop/build/catkin_generated/installspace/setup.zsh new file mode 100644 index 0000000..5600d94 --- /dev/null +++ b/ROS-groovy/pr2_teleop/build/catkin_generated/installspace/setup.zsh @@ -0,0 +1,7 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh +emulate sh # emulate POSIX +. "/usr/local/setup.sh" +emulate zsh # back to zsh mode diff --git a/ROS-groovy/pr2_teleop/build/catkin_generated/ordered_paths.cmake b/ROS-groovy/pr2_teleop/build/catkin_generated/ordered_paths.cmake new file mode 100644 index 0000000..864b586 --- /dev/null +++ b/ROS-groovy/pr2_teleop/build/catkin_generated/ordered_paths.cmake @@ -0,0 +1 @@ +set(ORDERED_PATHS "/opt/ros/groovy/lib") \ No newline at end of file diff --git a/ROS-groovy/pr2_teleop/build/catkin_generated/setup_cached.sh b/ROS-groovy/pr2_teleop/build/catkin_generated/setup_cached.sh new file mode 100644 index 0000000..9f6aaf6 --- /dev/null +++ b/ROS-groovy/pr2_teleop/build/catkin_generated/setup_cached.sh @@ -0,0 +1,19 @@ +#!/usr/bin/env sh +# generated from catkin/python/catkin/environment_cache.py + +# based on a snapshot of the environment before and after calling the setup script +# it emulates the modifications of the setup script without recurring computations + +# new environment variables +export CATKIN_TEST_RESULTS_DIR="/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/test_results" +export ROS_TEST_RESULTS_DIR="/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/test_results" + +# modified environment variables +export CMAKE_PREFIX_PATH="/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/devel:$CMAKE_PREFIX_PATH" +export CPATH="/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/devel/include:$CPATH" +export LD_LIBRARY_PATH="/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/devel/lib:$LD_LIBRARY_PATH" +export PATH="/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/devel/bin:$PATH" +export PKG_CONFIG_PATH="/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/devel/lib/pkgconfig:$PKG_CONFIG_PATH" +export PYTHONPATH="/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/devel/lib/python2.7/dist-packages:$PYTHONPATH" +export ROSLISP_PACKAGE_DIRECTORIES="/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/devel/share/common-lisp" +export ROS_PACKAGE_PATH="/opt/ros/groovy/stacks/pr2_apps/pr2_teleop:/opt/ros/groovy/share:/opt/ros/groovy/stacks" \ No newline at end of file diff --git a/ROS-groovy/pr2_teleop/build/catkin_generated/stamps/pr2_teleop/interrogate_setup_dot_py.py.stamp b/ROS-groovy/pr2_teleop/build/catkin_generated/stamps/pr2_teleop/interrogate_setup_dot_py.py.stamp new file mode 100644 index 0000000..8a3c234 --- /dev/null +++ b/ROS-groovy/pr2_teleop/build/catkin_generated/stamps/pr2_teleop/interrogate_setup_dot_py.py.stamp @@ -0,0 +1,233 @@ +#!/usr/bin/env python + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +from __future__ import print_function +import os +import sys + +import distutils.core +try: + import setuptools +except ImportError: + pass + +from argparse import ArgumentParser + + +def _get_locations(pkgs, package_dir): + """ + based on setuptools logic and the package_dir dict, builds a dict + of location roots for each pkg in pkgs. + See http://docs.python.org/distutils/setupscript.html + + :returns: a dict {pkgname: root} for each pkgname in pkgs (and each of their parents) + """ + # package_dir contains a dict {package_name: relativepath} + # Example {'': 'src', 'foo': 'lib', 'bar': 'lib2'} + # + # '' means where to look for any package unless a parent package + # is listed so package bar.pot is expected at lib2/bar/pot, + # whereas package sup.dee is expected at src/sup/dee + # + # if package_dir does not state anything about a package, + # setuptool expects the package folder to be in the root of the + # project + locations = {} + allprefix = package_dir.get('', '') + for pkg in pkgs: + parent_location = None + splits = pkg.split('.') + # we iterate over compound name from parent to child + # so once we found parent, children just append to their parent + for key_len in range(len(splits)): + key = '.'.join(splits[:key_len + 1]) + if key not in locations: + if key in package_dir: + locations[key] = package_dir[key] + elif parent_location is not None: + locations[key] = parent_location + else: + locations[key] = allprefix + parent_location = locations[key] + return locations + + +def generate_cmake_file(package_name, version, scripts, package_dir, pkgs): + """ + Generates lines to add to a cmake file which will set variables + + :param version: str, format 'int.int.int' + :param scripts: [list of str]: relative paths to scripts + :param package_dir: {modulename: path} + :pkgs: [list of str] python_packages declared in catkin package + """ + prefix = '%s_SETUP_PY' % package_name + result = [] + result.append(r'set(%s_VERSION "%s")' % (prefix, version)) + result.append(r'set(%s_SCRIPTS "%s")' % (prefix, ';'.join(scripts))) + + # Remove packages with '.' separators. + # + # setuptools allows specifying submodules in other folders than + # their parent + # + # The symlink approach of catkin does not work with such submodules. + # In the common case, this does not matter as the submodule is + # within the containing module. We verify this assumption, and if + # it passes, we remove submodule packages. + locations = _get_locations(pkgs, package_dir) + for pkgname, location in locations.items(): + if not '.' in pkgname: + continue + splits = pkgname.split('.') + # hack: ignore write-combining setup.py files for msg and srv files + if splits[1] in ['msg', 'srv']: + continue + # check every child has the same root folder as its parent + parent_name = '.'.join(splits[:1]) + if location != locations[parent_name]: + raise RuntimeError( + "catkin_export_python does not support setup.py files that combine across multiple directories: %s in %s, %s in %s" % (pkgname, location, parent_name, locations[parent_name])) + + # If checks pass, remove all submodules + pkgs = [p for p in pkgs if '.' not in p] + + resolved_pkgs = [] + for pkg in pkgs: + resolved_pkgs += [os.path.join(locations[pkg], pkg)] + + result.append(r'set(%s_PACKAGES "%s")' % (prefix, ';'.join(pkgs))) + result.append(r'set(%s_PACKAGE_DIRS "%s")' % (prefix, ';'.join(resolved_pkgs).replace("\\", "/"))) + return result + + +def _create_mock_setup_function(package_name, outfile): + """ + Creates a function to call instead of distutils.core.setup or + setuptools.setup, which just captures some args and writes them + into a file that can be used from cmake + + :param package_name: name of the package + :param outfile: filename that cmake will use afterwards + :returns: a function to replace disutils.core.setup and setuptools.setup + """ + + def setup(*args, **kwargs): + ''' + Checks kwargs and writes a scriptfile + ''' + if 'version' not in kwargs: + sys.stderr.write("\n*** Unable to find 'version' in setup.py of %s\n" % package_name) + raise RuntimeError("version not found in setup.py") + version = kwargs['version'] + package_dir = kwargs.get('package_dir', {}) + + pkgs = kwargs.get('packages', []) + scripts = kwargs.get('scripts', []) + + unsupported_args = [ + 'entry_points', + 'exclude_package_data', + 'ext_modules ', + 'ext_package', + 'include_package_data', + 'namespace_packages', + 'py_modules', + 'setup_requires', + 'use_2to3', + 'zip_safe'] + used_unsupported_args = [arg for arg in unsupported_args if arg in kwargs] + if used_unsupported_args: + sys.stderr.write("*** Arguments %s to setup() not supported in catkin devel space in setup.py of %s\n" % (used_unsupported_args, package_name)) + + result = generate_cmake_file(package_name=package_name, + version=version, + scripts=scripts, + package_dir=package_dir, + pkgs=pkgs) + with open(outfile, 'w') as out: + out.write('\n'.join(result)) + + return setup + + +def main(): + """ + Script main, parses arguments and invokes Dummy.setup indirectly. + """ + parser = ArgumentParser(description='Utility to read setup.py values from cmake macros. Creates a file with CMake set commands setting variables.') + parser.add_argument('package_name', help='Name of catkin package') + parser.add_argument('setupfile_path', help='Full path to setup.py') + parser.add_argument('outfile', help='Where to write result to') + + args = parser.parse_args() + + # print("%s" % sys.argv) + # PACKAGE_NAME = sys.argv[1] + # OUTFILE = sys.argv[3] + # print("Interrogating setup.py for package %s into %s " % (PACKAGE_NAME, OUTFILE), + # file=sys.stderr) + + # print("executing %s" % args.setupfile_path) + + # be sure you're in the directory containing + # setup.py so the sys.path manipulation works, + # so the import of __version__ works + os.chdir(os.path.dirname(os.path.abspath(args.setupfile_path))) + + # patch setup() function of distutils and setuptools for the + # context of evaluating setup.py + try: + fake_setup = _create_mock_setup_function(package_name=args.package_name, + outfile=args.outfile) + + distutils_backup = distutils.core.setup + distutils.core.setup = fake_setup + try: + setuptools_backup = setuptools.setup + setuptools.setup = fake_setup + except NameError: + pass + + with open(args.setupfile_path, 'r') as fh: + exec(fh.read()) + finally: + distutils.core.setup = distutils_backup + try: + setuptools.setup = setuptools_backup + except NameError: + pass + +if __name__ == '__main__': + main() diff --git a/ROS-groovy/pr2_teleop/build/catkin_generated/stamps/pr2_teleop/package.xml.stamp b/ROS-groovy/pr2_teleop/build/catkin_generated/stamps/pr2_teleop/package.xml.stamp new file mode 100644 index 0000000..17718d4 --- /dev/null +++ b/ROS-groovy/pr2_teleop/build/catkin_generated/stamps/pr2_teleop/package.xml.stamp @@ -0,0 +1,36 @@ + + + catkin + 0.5.71 + Low-level build system macros and infrastructure for ROS. + Dirk Thomas + BSD + + http://www.ros.org/wiki/catkin + https://github.com/ros/catkin/issues + https://github.com/ros/catkin + + Troy Straszheim + Morten Kjaergaard + Brian Gerkey + Dirk Thomas + + gtest + python-argparse + python-catkin-pkg + python-empy + python-nose + + cmake + + cmake + gtest + python-argparse + python-catkin-pkg + python-empy + python-nose + + + + + diff --git a/ROS-groovy/pr2_teleop/build/cmake_install.cmake b/ROS-groovy/pr2_teleop/build/cmake_install.cmake new file mode 100644 index 0000000..61a1f40 --- /dev/null +++ b/ROS-groovy/pr2_teleop/build/cmake_install.cmake @@ -0,0 +1,100 @@ +# Install script for directory: /opt/ros/groovy/stacks/pr2_apps/pr2_teleop + +# Set the install prefix +IF(NOT DEFINED CMAKE_INSTALL_PREFIX) + SET(CMAKE_INSTALL_PREFIX "/usr/local") +ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX) +STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}") + +# Set the install configuration name. +IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + IF(BUILD_TYPE) + STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" "" + CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}") + ELSE(BUILD_TYPE) + SET(CMAKE_INSTALL_CONFIG_NAME "RelWithDebInfo") + ENDIF(BUILD_TYPE) + MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"") +ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME) + +# Set the component getting installed. +IF(NOT CMAKE_INSTALL_COMPONENT) + IF(COMPONENT) + MESSAGE(STATUS "Install component: \"${COMPONENT}\"") + SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}") + ELSE(COMPONENT) + SET(CMAKE_INSTALL_COMPONENT) + ENDIF(COMPONENT) +ENDIF(NOT CMAKE_INSTALL_COMPONENT) + +# Install shared libraries without execute permission? +IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + SET(CMAKE_INSTALL_SO_NO_EXE "1") +ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE) + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES + "/usr/local/.catkin") +FILE(INSTALL DESTINATION "/usr/local" TYPE FILE FILES "/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/catkin_generated/installspace/.catkin") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES + "/usr/local/_setup_util.py") +FILE(INSTALL DESTINATION "/usr/local" TYPE PROGRAM FILES "/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/catkin_generated/installspace/_setup_util.py") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES + "/usr/local/env.sh") +FILE(INSTALL DESTINATION "/usr/local" TYPE PROGRAM FILES "/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/catkin_generated/installspace/env.sh") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES + "/usr/local/setup.bash") +FILE(INSTALL DESTINATION "/usr/local" TYPE FILE FILES "/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/catkin_generated/installspace/setup.bash") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES + "/usr/local/setup.sh") +FILE(INSTALL DESTINATION "/usr/local" TYPE FILE FILES "/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/catkin_generated/installspace/setup.sh") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES + "/usr/local/setup.zsh") +FILE(INSTALL DESTINATION "/usr/local" TYPE FILE FILES "/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/catkin_generated/installspace/setup.zsh") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + list(APPEND CPACK_ABSOLUTE_DESTINATION_FILES + "/usr/local/.rosinstall") +FILE(INSTALL DESTINATION "/usr/local" TYPE FILE FILES "/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/catkin_generated/installspace/.rosinstall") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/etc/catkin/profile.d" TYPE FILE FILES "/opt/ros/groovy/share/catkin/cmake/env-hooks/05.catkin_make.bash") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + FILE(INSTALL DESTINATION "${CMAKE_INSTALL_PREFIX}/etc/catkin/profile.d" TYPE FILE FILES "/opt/ros/groovy/share/catkin/cmake/env-hooks/05.catkin_make_isolated.bash") +ENDIF(NOT CMAKE_INSTALL_COMPONENT OR "${CMAKE_INSTALL_COMPONENT}" STREQUAL "Unspecified") + +IF(NOT CMAKE_INSTALL_LOCAL_ONLY) + # Include the install script for each subdirectory. + INCLUDE("/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/gtest/cmake_install.cmake") + +ENDIF(NOT CMAKE_INSTALL_LOCAL_ONLY) + +IF(CMAKE_INSTALL_COMPONENT) + SET(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt") +ELSE(CMAKE_INSTALL_COMPONENT) + SET(CMAKE_INSTALL_MANIFEST "install_manifest.txt") +ENDIF(CMAKE_INSTALL_COMPONENT) + +FILE(WRITE "/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/${CMAKE_INSTALL_MANIFEST}" "") +FOREACH(file ${CMAKE_INSTALL_MANIFEST_FILES}) + FILE(APPEND "/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/${CMAKE_INSTALL_MANIFEST}" "${file}\n") +ENDFOREACH(file) diff --git a/ROS-groovy/pr2_teleop/build/devel/.catkin b/ROS-groovy/pr2_teleop/build/devel/.catkin new file mode 100644 index 0000000..bf4861e --- /dev/null +++ b/ROS-groovy/pr2_teleop/build/devel/.catkin @@ -0,0 +1 @@ +/opt/ros/groovy/stacks/pr2_apps/pr2_teleop \ No newline at end of file diff --git a/ROS-groovy/pr2_teleop/build/devel/.rosinstall b/ROS-groovy/pr2_teleop/build/devel/.rosinstall new file mode 100644 index 0000000..5df35a7 --- /dev/null +++ b/ROS-groovy/pr2_teleop/build/devel/.rosinstall @@ -0,0 +1,2 @@ +- setup-file: + local-name: /opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/devel/setup.sh diff --git a/ROS-groovy/pr2_teleop/build/devel/_setup_util.py b/ROS-groovy/pr2_teleop/build/devel/_setup_util.py new file mode 100644 index 0000000..8754fcb --- /dev/null +++ b/ROS-groovy/pr2_teleop/build/devel/_setup_util.py @@ -0,0 +1,250 @@ +#!/usr/bin/env python + +# Software License Agreement (BSD License) +# +# Copyright (c) 2012, Willow Garage, Inc. +# All rights reserved. +# +# Redistribution and use in source and binary forms, with or without +# modification, are permitted provided that the following conditions +# are met: +# +# * Redistributions of source code must retain the above copyright +# notice, this list of conditions and the following disclaimer. +# * Redistributions in binary form must reproduce the above +# copyright notice, this list of conditions and the following +# disclaimer in the documentation and/or other materials provided +# with the distribution. +# * Neither the name of Willow Garage, Inc. nor the names of its +# contributors may be used to endorse or promote products derived +# from this software without specific prior written permission. +# +# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +# POSSIBILITY OF SUCH DAMAGE. + +'''This file generates shell code for the setup.SHELL scripts to set environment variables''' + +from __future__ import print_function +import argparse +import copy +import os +import platform +import sys + +# environment at generation time +CMAKE_PREFIX_PATH = '/opt/ros/groovy'.split(';') +setup_dir = '/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/devel' +if setup_dir and setup_dir not in CMAKE_PREFIX_PATH: + CMAKE_PREFIX_PATH.insert(0, setup_dir) +CMAKE_PREFIX_PATH = os.pathsep.join(CMAKE_PREFIX_PATH) + +CATKIN_MARKER_FILE = '.catkin' + +system = platform.system() +IS_DARWIN = (system == 'Darwin') +IS_WINDOWS = (system == 'Windows') + +# subfolder of workspace prepended to CMAKE_PREFIX_PATH +ENV_VAR_SUBFOLDERS = { + 'CMAKE_PREFIX_PATH': '', + 'CPATH': 'include', + 'LD_LIBRARY_PATH' if not IS_DARWIN else 'DYLD_LIBRARY_PATH': 'lib', + 'PATH': 'bin', + 'PKG_CONFIG_PATH': 'lib/pkgconfig', + 'PYTHONPATH': 'lib/python2.7/dist-packages', +} + + +def rollback_env_variables(environ, env_var_subfolders): + ''' + Generate shell code to reset environment variables + by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH. + This does not cover modifications performed by environment hooks. + ''' + lines = [] + unmodified_environ = copy.copy(environ) + for key in sorted(env_var_subfolders.keys()): + subfolder = env_var_subfolders[key] + value = _rollback_env_variable(unmodified_environ, key, subfolder) + if value is not None: + environ[key] = value + lines.append(assignment(key, value)) + if lines: + lines.insert(0, comment('reset environment variables by unrolling modifications based on all workspaces in CMAKE_PREFIX_PATH')) + return lines + + +def _rollback_env_variable(environ, name, subfolder): + ''' + For each catkin workspace in CMAKE_PREFIX_PATH remove the first entry from env[NAME] matching workspace + subfolder. + + :param subfolder: str '' or subfoldername that may start with '/' + :returns: the updated value of the environment variable. + ''' + value = environ[name] if name in environ else '' + env_paths = [path for path in value.split(os.pathsep) if path] + value_modified = False + if subfolder: + if subfolder.startswith(os.path.sep) or (os.path.altsep and subfolder.startswith(os.path.altsep)): + subfolder = subfolder[1:] + if subfolder.endswith(os.path.sep) or (os.path.altsep and subfolder.endswith(os.path.altsep)): + subfolder = subfolder[:-1] + for ws_path in _get_workspaces(environ, include_fuerte=True): + path_to_find = os.path.join(ws_path, subfolder) if subfolder else ws_path + path_to_remove = None + for env_path in env_paths: + env_path_clean = env_path[:-1] if env_path and env_path[-1] in [os.path.sep, os.path.altsep] else env_path + if env_path_clean == path_to_find: + path_to_remove = env_path + break + if path_to_remove: + env_paths.remove(path_to_remove) + value_modified = True + new_value = os.pathsep.join(env_paths) + return new_value if value_modified else None + + +def _get_workspaces(environ, include_fuerte=False): + ''' + Based on CMAKE_PREFIX_PATH return all catkin workspaces. + + :param include_fuerte: The flag if paths starting with '/opt/ros/fuerte' should be considered workspaces, ``bool`` + ''' + # get all cmake prefix paths + env_name = 'CMAKE_PREFIX_PATH' + value = environ[env_name] if env_name in environ else '' + paths = [path for path in value.split(os.pathsep) if path] + # remove non-workspace paths + workspaces = [path for path in paths if os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE)) or (include_fuerte and path.startswith('/opt/ros/fuerte'))] + return workspaces + + +def prepend_env_variables(environ, env_var_subfolders, workspaces): + ''' + Generate shell code to prepend environment variables + for the all workspaces. + ''' + lines = [] + lines.append(comment('prepend folders of workspaces to environment variables')) + + paths = [path for path in workspaces.split(os.pathsep) if path] + + prefix = _prefix_env_variable(environ, 'CMAKE_PREFIX_PATH', paths, '') + lines.append(prepend(environ, 'CMAKE_PREFIX_PATH', prefix)) + + for key in sorted([key for key in env_var_subfolders.keys() if key != 'CMAKE_PREFIX_PATH']): + subfolder = env_var_subfolders[key] + prefix = _prefix_env_variable(environ, key, paths, subfolder) + lines.append(prepend(environ, key, prefix)) + return lines + + +def _prefix_env_variable(environ, name, paths, subfolder): + ''' + Return the prefix to prepend to the environment variable NAME, adding any path in NEW_PATHS_STR without creating duplicate or empty items. + ''' + value = environ[name] if name in environ else '' + environ_paths = [path for path in value.split(os.pathsep) if path] + checked_paths = [] + for path in paths: + if subfolder: + path = os.path.join(path, subfolder) + # exclude any path already in env and any path we already added + if path not in environ_paths and path not in checked_paths: + checked_paths.append(path) + prefix_str = os.pathsep.join(checked_paths) + if prefix_str != '' and environ_paths: + prefix_str += os.pathsep + return prefix_str + + +def assignment(key, value): + if not IS_WINDOWS: + return 'export %s="%s"' % (key, value) + else: + return 'set %s=%s' % (key, value) + + +def comment(msg): + if not IS_WINDOWS: + return '# %s' % msg + else: + return 'REM %s' % msg + + +def prepend(environ, key, prefix): + if key not in environ or not environ[key]: + return assignment(key, prefix) + if not IS_WINDOWS: + return 'export %s="%s$%s"' % (key, prefix, key) + else: + return 'set %s=%s%%%s%%' % (key, prefix, key) + + +def find_env_hooks(environ, cmake_prefix_path): + ''' + Generate shell code with found environment hooks + for the all workspaces. + ''' + lines = [] + lines.append(comment('found environment hooks in workspaces')) + + generic_env_hooks = [] + specific_env_hooks = [] + generic_env_hooks_by_filename = {} + specific_env_hooks_by_filename = {} + generic_env_hook_ext = 'bat' if IS_WINDOWS else 'sh' + specific_env_hook_ext = environ['CATKIN_SHELL'] if not IS_WINDOWS and 'CATKIN_SHELL' in environ and environ['CATKIN_SHELL'] else None + # remove non-workspace paths + workspaces = [path for path in cmake_prefix_path.split(os.pathsep) if path and os.path.isfile(os.path.join(path, CATKIN_MARKER_FILE))] + for workspace in reversed(workspaces): + env_hook_dir = os.path.join(workspace, 'etc', 'catkin', 'profile.d') + if os.path.isdir(env_hook_dir): + for filename in sorted(os.listdir(env_hook_dir)): + if filename.endswith('.%s' % generic_env_hook_ext): + generic_env_hooks.append(os.path.join(env_hook_dir, filename)) + # remove previous env hook with same name if present + if filename in generic_env_hooks_by_filename: + generic_env_hooks.remove(generic_env_hooks_by_filename[filename]) + generic_env_hooks_by_filename[filename] = generic_env_hooks[-1] + elif specific_env_hook_ext is not None and filename.endswith('.%s' % specific_env_hook_ext): + specific_env_hooks.append(os.path.join(env_hook_dir, filename)) + # remove previous env hook with same name if present + if filename in specific_env_hooks_by_filename: + specific_env_hooks.remove(specific_env_hooks_by_filename[filename]) + specific_env_hooks_by_filename[filename] = specific_env_hooks[-1] + lines.append(assignment('_CATKIN_ENVIRONMENT_HOOKS', os.pathsep.join(generic_env_hooks + specific_env_hooks))) + return lines + + +def _parse_arguments(args=None): + parser = argparse.ArgumentParser(description='Generates code blocks for the setup.SHELL script.') + parser.add_argument('--extend', action='store_true', help='Skip unsetting previous environment variables to extend context') + return parser.parse_known_args(args=args)[0] + + +if __name__ == '__main__': + try: + args = _parse_arguments() + except Exception as e: + print(e, file=sys.stderr) + exit(1) + + environ = dict(os.environ) + lines = [] + if not args.extend: + lines += rollback_env_variables(environ, ENV_VAR_SUBFOLDERS) + lines += prepend_env_variables(environ, ENV_VAR_SUBFOLDERS, CMAKE_PREFIX_PATH) + lines += find_env_hooks(environ, CMAKE_PREFIX_PATH) + print('\n'.join(lines)) + sys.exit(0) diff --git a/ROS-groovy/pr2_teleop/build/devel/env.sh b/ROS-groovy/pr2_teleop/build/devel/env.sh new file mode 100644 index 0000000..47a0b56 --- /dev/null +++ b/ROS-groovy/pr2_teleop/build/devel/env.sh @@ -0,0 +1,11 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/templates/env.sh.in + +if [ $# -eq 0 ] ; then + /bin/echo "Usage: env.sh COMMANDS" + /bin/echo "Calling env.sh without arguments is not supported anymore. Instead spawn a subshell and source a setup file manually." + exit 1 +else + . "/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/devel/setup.sh" + exec "$@" +fi diff --git a/ROS-groovy/pr2_teleop/build/devel/etc/catkin/profile.d/05.catkin-test-results.sh b/ROS-groovy/pr2_teleop/build/devel/etc/catkin/profile.d/05.catkin-test-results.sh new file mode 100644 index 0000000..aa0b633 --- /dev/null +++ b/ROS-groovy/pr2_teleop/build/devel/etc/catkin/profile.d/05.catkin-test-results.sh @@ -0,0 +1,4 @@ +# generated from catkin/cmake/env-hooks/05.catkin-test-results.sh.develspace.in + +export CATKIN_TEST_RESULTS_DIR="/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/test_results" +export ROS_TEST_RESULTS_DIR="$CATKIN_TEST_RESULTS_DIR" diff --git a/ROS-groovy/pr2_teleop/build/devel/etc/catkin/profile.d/05.catkin_make.bash b/ROS-groovy/pr2_teleop/build/devel/etc/catkin/profile.d/05.catkin_make.bash new file mode 100644 index 0000000..7629613 --- /dev/null +++ b/ROS-groovy/pr2_teleop/build/devel/etc/catkin/profile.d/05.catkin_make.bash @@ -0,0 +1,63 @@ +function _catkin_make() +{ + local cur prev + _init_completion -s || return + + # autocomplete path arguments for -C, --directory, --source, --build + case $prev in + -C|--directory|--source|--build) + _filedir -d + return 0 + ;; + esac + + if [[ "$cur" == -DCMAKE_BUILD_TYPE=* ]]; then + # autocomplete CMake argument CMAKE_BUILD_TYPE with its options + COMPREPLY=( $( compgen -W "None Debug Release RelWithDebInfo MinSizeRel" -- "${cur:19}" ) ) + elif [[ "$cur" == -DCATKIN_ENABLE_TESTING=* ]]; then + # autocomplete catkin argument CATKIN_ENABLE_TESTING with its options + COMPREPLY=( $( compgen -W "0 1" -- "${cur:24}" ) ) + elif [[ "$cur" == -DCATKIN_DEVEL_PREFIX=* || "$cur" == -DCMAKE_INSTALL_PREFIX=* ]]; then + COMPREPLY=() + elif [[ "$cur" == -* ]]; then + local opts="$( _parse_help "$1" )" + [[ $opts ]] || opts="$( _parse_usage "$1" )" + if [[ "$cur" == -* ]]; then + # suggest some common CMake arguments + opts="$opts -DCATKIN_DEVEL_PREFIX= -DCATKIN_ENABLE_TESTING= -DCMAKE_INSTALL_PREFIX= -DCMAKE_BUILD_TYPE=" + fi + COMPREPLY=( $( compgen -W "$opts" -- "$cur" ) ) + [[ $COMPREPLY == *= ]] && compopt -o nospace + else + # check if custom workspace root has been specified on the command line + local workspace_dir="." + for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do + if [[ ${COMP_WORDS[i]} == -C || ${COMP_WORDS[i]} == --directory ]]; then + # eval to expand tilde + eval workspace_dir=${COMP_WORDS[i+1]} + fi + done + # check if custom build folder has been specified on the command line + local build_dir="build" + for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do + if [[ ${COMP_WORDS[i]} == --build ]]; then + # eval to expand tilde + eval build_dir=${COMP_WORDS[i+1]} + fi + done + + # determine location of Makefile + local makefile_dir + if [[ "$build_dir" = /* ]]; then + makefile_dir="$build_dir" + else + makefile_dir="$workspace_dir/$build_dir" + fi + COMPREPLY=() + if [ -f "$makefile_dir/Makefile" ]; then + cur=${COMP_WORDS[COMP_CWORD]} + COMPREPLY=( $( compgen -W "`make -C $makefile_dir -qp 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur )) + fi + fi +} && +complete -F _catkin_make catkin_make diff --git a/ROS-groovy/pr2_teleop/build/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash b/ROS-groovy/pr2_teleop/build/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash new file mode 100644 index 0000000..d0ace87 --- /dev/null +++ b/ROS-groovy/pr2_teleop/build/devel/etc/catkin/profile.d/05.catkin_make_isolated.bash @@ -0,0 +1,61 @@ +function _catkin_make_isolated() +{ + local cur prev + _init_completion -s || return + + # autocomplete path arguments for -C, --directory, --source, --build, --devel, --install + case $prev in + -C|--directory|--source|--build|--devel|--install) + _filedir -d + return 0 + ;; + esac + + if [[ "$cur" == -DCMAKE_BUILD_TYPE=* ]]; then + # autocomplete CMake argument CMAKE_BUILD_TYPE with its options + COMPREPLY=( $( compgen -W "None Debug Release RelWithDebInfo MinSizeRel" -- "${cur:19}" ) ) + elif [[ "$cur" == -DCATKIN_ENABLE_TESTING=* ]]; then + # autocomplete catkin argument CATKIN_ENABLE_TESTING with its options + COMPREPLY=( $( compgen -W "0 1" -- "${cur:24}" ) ) + elif [[ "$cur" == -* ]]; then + local opts="$( _parse_help "$1" )" + [[ $opts ]] || opts="$( _parse_usage "$1" )" + if [[ "$cur" == -* ]]; then + # suggest some common CMake arguments + opts="$opts -DCATKIN_ENABLE_TESTING= -DCMAKE_BUILD_TYPE=" + fi + COMPREPLY=( $( compgen -W "$opts" -- "$cur" ) ) + [[ $COMPREPLY == *= ]] && compopt -o nospace + else + # check if custom workspace root has been specified on the command line + local workspace_dir="." + for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do + if [[ ${COMP_WORDS[i]} == -C || ${COMP_WORDS[i]} == --directory ]]; then + # eval to expand tilde + eval workspace_dir=${COMP_WORDS[i+1]} + fi + done + # check if custom build folder has been specified on the command line + local build_dir="build_isolated" + for (( i=0; i < ${#COMP_WORDS[@]}; i++ )); do + if [[ ${COMP_WORDS[i]} == --build ]]; then + # eval to expand tilde + eval build_dir=${COMP_WORDS[i+1]} + fi + done + + # determine location of Makefile + local makefile_dir + if [[ "$build_dir" = /* ]]; then + makefile_dir="$build_dir" + else + makefile_dir="$workspace_dir/$build_dir" + fi + COMPREPLY=() + if [ -f "$makefile_dir/Makefile" ]; then + cur=${COMP_WORDS[COMP_CWORD]} + COMPREPLY=( $( compgen -W "`make -C $makefile_dir -qp 2>/dev/null | awk -F':' '/^[a-zA-Z0-9][a-zA-Z0-9_\.]*:/ { print $1 }'`" -- $cur )) + fi + fi +} && +complete -F _catkin_make_isolated catkin_make_isolated diff --git a/ROS-groovy/pr2_teleop/build/devel/setup.bash b/ROS-groovy/pr2_teleop/build/devel/setup.bash new file mode 100644 index 0000000..7d17040 --- /dev/null +++ b/ROS-groovy/pr2_teleop/build/devel/setup.bash @@ -0,0 +1,5 @@ +#!/usr/bin/env bash +# generated from catkin/cmake/templates/setup.bash.in + +CATKIN_SHELL=bash +. "/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/devel/setup.sh" diff --git a/ROS-groovy/pr2_teleop/build/devel/setup.sh b/ROS-groovy/pr2_teleop/build/devel/setup.sh new file mode 100644 index 0000000..369cbc3 --- /dev/null +++ b/ROS-groovy/pr2_teleop/build/devel/setup.sh @@ -0,0 +1,76 @@ +#!/usr/bin/env sh +# generated from catkin/cmake/template/setup.sh.in + +# Sets various environment variables and sources additional environment hooks. +# It tries it's best to undo changes from a previously sourced setup file before. +# Supported command line options: +# --extend: skips the undoing of changes from a previously sourced setup file + +_SETUP_UTIL="/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/devel/_setup_util.py" + +if [ ! -f "$_SETUP_UTIL" ]; then + echo "Missing Python script: $_SETUP_UTIL" + return 22 +fi + +# detect if running on Darwin platform +_UNAME=`uname -s` +_IS_DARWIN=0 +if [ "$_UNAME" = "Darwin" ]; then + _IS_DARWIN=1 +fi + +# make sure to export all environment variables +export CMAKE_PREFIX_PATH +export CPATH +if [ $_IS_DARWIN -eq 0 ]; then + export LD_LIBRARY_PATH +else + export DYLD_LIBRARY_PATH +fi +export PATH +export PKG_CONFIG_PATH +export PYTHONPATH + +# remember type of shell if not already set +if [ -z "$CATKIN_SHELL" ]; then + CATKIN_SHELL=sh +fi + +# invoke Python script to generate necessary exports of environment variables +_SETUP_TMP=`mktemp /tmp/setup.sh.XXXXXXXXXX` +if [ $? -ne 0 -o ! -f "$_SETUP_TMP" ]; then + echo "Could not create temporary file: $_SETUP_TMP" + return 1 +fi +CATKIN_SHELL=$CATKIN_SHELL "$_SETUP_UTIL" $@ > $_SETUP_TMP +. $_SETUP_TMP +rm -f $_SETUP_TMP + +# save value of IFS, including if it was unset +# the "+x" syntax helps differentiate unset from empty +_IFS=$IFS +if [ -z ${IFS+x} ]; then + _IFS_WAS_UNSET=1 +fi + +# source all environment hooks +IFS=":" +for _envfile in $_CATKIN_ENVIRONMENT_HOOKS; do + # restore value of IFS, including if it was unset + IFS=$_IFS + if [ $_IFS_WAS_UNSET ]; then + unset IFS + fi + . "$_envfile" +done + +# restore value of IFS, including if it was unset +IFS=$_IFS +if [ $_IFS_WAS_UNSET ]; then + unset IFS + unset _IFS_WAS_UNSET +fi +unset _IFS + +unset _CATKIN_ENVIRONMENT_HOOKS diff --git a/ROS-groovy/pr2_teleop/build/devel/setup.zsh b/ROS-groovy/pr2_teleop/build/devel/setup.zsh new file mode 100644 index 0000000..72e1c72 --- /dev/null +++ b/ROS-groovy/pr2_teleop/build/devel/setup.zsh @@ -0,0 +1,7 @@ +#!/usr/bin/env zsh +# generated from catkin/cmake/templates/setup.zsh.in + +CATKIN_SHELL=zsh +emulate sh # emulate POSIX +. "/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/devel/setup.sh" +emulate zsh # back to zsh mode diff --git a/ROS-groovy/pr2_teleop/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake b/ROS-groovy/pr2_teleop/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake new file mode 100644 index 0000000..50e6071 --- /dev/null +++ b/ROS-groovy/pr2_teleop/build/gtest/CMakeFiles/CMakeDirectoryInformation.cmake @@ -0,0 +1,28 @@ +# CMAKE generated file: DO NOT EDIT! +# Generated by "Unix Makefiles" Generator, CMake Version 2.8 + +# Relative path conversion top directories. +SET(CMAKE_RELATIVE_PATH_TOP_SOURCE "/usr/src/gtest") +SET(CMAKE_RELATIVE_PATH_TOP_BINARY "/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build") + +# Force unix paths in dependencies. +SET(CMAKE_FORCE_UNIX_PATHS 1) + +# The C and CXX include file search paths: +SET(CMAKE_C_INCLUDE_PATH + "/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/include" + "/opt/ros/groovy/stacks/pr2_controllers/pr2_controllers_msgs/msg_gen/cpp/include" + "/opt/ros/groovy/stacks/pr2_controllers/pr2_controllers_msgs/srv_gen/cpp/include" + "/opt/ros/groovy/include" + "/usr/src/gtest/include" + "/usr/src/gtest" + ) +SET(CMAKE_CXX_INCLUDE_PATH ${CMAKE_C_INCLUDE_PATH}) +SET(CMAKE_Fortran_INCLUDE_PATH ${CMAKE_C_INCLUDE_PATH}) +SET(CMAKE_ASM_INCLUDE_PATH ${CMAKE_C_INCLUDE_PATH}) + +# The C and CXX include file regular expressions for this directory. +SET(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$") +SET(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$") +SET(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN}) +SET(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN}) diff --git a/ROS-groovy/pr2_teleop/build/gtest/CMakeFiles/gtest.dir/DependInfo.cmake b/ROS-groovy/pr2_teleop/build/gtest/CMakeFiles/gtest.dir/DependInfo.cmake new file mode 100644 index 0000000..0445bff --- /dev/null +++ b/ROS-groovy/pr2_teleop/build/gtest/CMakeFiles/gtest.dir/DependInfo.cmake @@ -0,0 +1,18 @@ +# The set of languages for which implicit dependencies are needed: +SET(CMAKE_DEPENDS_LANGUAGES + "CXX" + ) +# The set of files for implicit dependencies of each language: +SET(CMAKE_DEPENDS_CHECK_CXX + "/usr/src/gtest/src/gtest-all.cc" "/opt/ros/groovy/stacks/pr2_apps/pr2_teleop/build/gtest/CMakeFiles/gtest.dir/src/gtest-all.cc.o" + ) +SET(CMAKE_CXX_COMPILER_ID "GNU") + +# Preprocessor definitions for this target. +SET(CMAKE_TARGET_DEFINITIONS + "GTEST_CREATE_SHARED_LIBRARY=1" + ) + +# Targets to which this target links. +SET(CMAKE_TARGET_LINKED_INFO_FILES + ) diff --git a/ROS-groovy/pr2_teleop/build/gtest/CMakeFiles/gtest.dir/build.make b/ROS-groovy/pr2_teleop/build/gtest/CMakeFiles/gtest.dir/build.make new file mode 100644 index 0000000..c72f405 --- /dev/null +++ b/ROS-groovy/pr2_teleop/build/gtest/CMakeFiles/gtest.dir/build.make @@ -0,0 +1,99 @@ +# CMAKE generated file: DO NOT EDIT! +# Generated by "Unix Makefiles" Generator, CMake Version 2.8 + +#============================================================================= +# Special targets 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+axis_vy: 2 +axis_vw: 0 +axis_pan: 0 +axis_tilt: 3 + +# base velocities +max_vw: 0.8 +max_vx: 0.5 +max_vy: 0.5 +max_vw_run: 1.4 +max_vx_run: 1.0 +max_vy_run: 1.0 + +# Head +max_pan: 2.7 +max_tilt: 1.4 +min_tilt: -0.4 +tilt_step: 0.3 +pan_step: 0.3 + +# Buttons have changed for PS3 controller mapping +# With joystick remapper, this works with all joysticks on "/joy" +run_button: 11 +torso_dn_button: 14 +torso_up_button: 12 +head_button: 8 +deadman_button: 10 diff --git a/ROS-groovy/pr2_teleop/mainpage.dox b/ROS-groovy/pr2_teleop/mainpage.dox new file mode 100644 index 0000000..50b4e50 --- /dev/null +++ b/ROS-groovy/pr2_teleop/mainpage.dox @@ -0,0 +1,96 @@ +/** +\mainpage + +\htmlinclude manifest.html + +\b teleop_pr2 teleoperation of a PR2 from keyboard and joystick. Teleops base, head, spine. No arm teleoperation currently. + +Both nodes, teleop_pr2 and teleop_pr2_keyboard, are designed for limited control of a PR-2, like moving it from place to place and transport. This is not designed for immersive control of a PR-2. + +\section rosapi ROS API + +The two nodes, teleop_pr2 and teleop_pr2_keyboard, are designed primarily to drive the base of the PR-2. Teleop_pr2 can also able to drive the spine and head. + +List of nodes: +- \b teleop_pr2 +- \b teleop_pr2_keyboard + +
+ +\subsection teleop_pr2_keyboard teleop_pr2_keyboard + +\b teleop_pr2_keyboard teleoperates a PR-2 base using keyboard commands. +WASD controls X/Y, QE controls yaw. Shift to go faster. + +\subsubsection usage Usage +\verbatim +$ teleop_pr2_keyboard [standard ROS args] +\endverbatim + +Key mappings are printed to screen on startup. + +\subsubsection topic ROS topics + +Subscribes to (name / type): +- None + +Publishes to (name / type): +- \b "cmd_vel/Twist" : velocity to the pr2 base; sent on every keypress. + +\subsubsection parameters ROS parameters + +- \b "walk_vel" : \b double Maximum (walking) velocity +- \b "run_vel" : \b double Maximum (runing) velocity +- \b "yaw_rate" : \b double Maximum (walking) yaw rate +- \b "yaw_run_rate" : \b double Maximum (running) yaw rate + +
+ +\subsection teleop_pr2 teleop_pr2 + +\b teleop_pr2 teleoperate a PR-2 using a joystick. + +X - Forward +Y - Left +Angle Z - Yaw Rate CCW + +\subsubsection usage Usage +\verbatim +$ teleop_pr2 --deadman_no_publish [standard ROS args] +\endverbatim + +"--deadman_no_publish" is optional. If set, the node will only publish if the deadman is depressed. + +\subsubsection topic ROS topics + +Subscribes to (name / type): +- \b "joy/Joy" : ROS joystick topic + +Publishes to (name / type): +- \b "cmd_vel/Twist" : velocity to the pr2 base, sent on every keypress. +- \b "torso_lift_controller/set_command / Float64" : Velocity to PR2 torso (publishes only if torso_button param set) +- \b "head_controller/command / JointStates" : Position commands to PR-2 head (publishes only if head_button param set) + +\subsubsection parameters ROS parameters +- \b "max_vx" : \b double Maximum (walking) X velocity +- \b "max_vy" : \b double Maximum (walking) Y velocity +- \b "max_vw" : \b double Maximum (walking) Z angular velocity + +- \b "max_vx_run" : \b double Maximum (running) X velocity +- \b "max_vy_run" : \b double Maximum (running) Y velocity +- \b "max_vw_run" : \b double Maximum (running) Z angular velocity + +- \b "max_pan" : \b double Maximum head pan command (min is -1 * max) +- \b "max_tilt" : \b double Maximum head tilt command +- \b "min_tilt" : \b double Minimum head tilt command + +- \b "tilt_step" : \b double Head tilt command increment. Position command is tilt_step * tilt_axis +- \b "pan_step" : \b double Head pan command increment. Position command is pan_step * pan_axis + +- \b "deadman_button" : \b int Button that enables joystick commands. No commands will work without deadman button depressed +- \b "run_button" : \b int Base moves at maximum of "run" velocities when depressed. +- \b "torso_dn_button" : \b int Depress to command torso down +- \b "torso_up_button" : \b int Depress to command torso up +- \b "head_button" : \b int Depress to command head + +*/ diff --git a/ROS-groovy/pr2_teleop/manifest.xml b/ROS-groovy/pr2_teleop/manifest.xml new file mode 100644 index 0000000..e26186f --- /dev/null +++ b/ROS-groovy/pr2_teleop/manifest.xml @@ -0,0 +1,22 @@ + + + This package contains launch files for starting joystick or + keyboard-based teleoperation (remote control) of the PR2. + + Kevin Watts + BSD + http://ros.org/wiki/pr2_teleop + + + + + + + + + + + + + + diff --git a/ROS-groovy/pr2_teleop/src/teleop_gripper.cpp b/ROS-groovy/pr2_teleop/src/teleop_gripper.cpp new file mode 100644 index 0000000..f70c992 --- /dev/null +++ b/ROS-groovy/pr2_teleop/src/teleop_gripper.cpp @@ -0,0 +1,104 @@ +/* + * teleop_pr2 + * Copyright (c) 2008, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#include +#include +#include + +class TeleopGripper +{ +public: + TeleopGripper() + { + ros::NodeHandle private_nh_("~"); + + private_nh_.param("open_position", open_cmd_.position, 0.08); + private_nh_.param("open_max_effort", open_cmd_.max_effort, -1.0); + + private_nh_.param("close_position", close_cmd_.position, -100.00); + private_nh_.param("close_max_effort", close_cmd_.max_effort, -1.0); + + private_nh_.param("open_button", open_button_, 1); + private_nh_.param("close_button", close_button_, 2); + + pub_ = nh_.advertise("command", 1, false); + sub_ = nh_.subscribe("joy", 1, &TeleopGripper::joyCallback, this); + + ROS_DEBUG("teleop_gripper started"); + } + + void joyCallback(const sensor_msgs::JoyConstPtr& joy) + { + ROS_DEBUG("Got a joy msg"); + if ((int) joy->buttons.size() <= open_button_ || + (int) joy->buttons.size() <= close_button_ || + open_button_ < 0 || + close_button_ < 0) + { + ROS_ERROR("Array lookup error: Joystick message has %u elems. Open Index [%u]. Close Index [%u]", (unsigned int)joy->buttons.size(), open_button_, close_button_); + return; + } + + ROS_DEBUG("open: Buttons[%u] = %u", open_button_, joy->buttons[open_button_]); + + if (joy->buttons[open_button_] == 1) + { + pub_.publish(open_cmd_); + ROS_DEBUG("Opening"); + } + else if (joy->buttons[close_button_] == 1) + { + pub_.publish(close_cmd_); + ROS_DEBUG("Closing"); + } + } + +private: + ros::NodeHandle nh_; + ros::Publisher pub_; + ros::Subscriber sub_; + + int close_button_; + int open_button_; + + + pr2_controllers_msgs::Pr2GripperCommand open_cmd_; + pr2_controllers_msgs::Pr2GripperCommand close_cmd_; +}; + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "teleop_gripper"); + + TeleopGripper teleop_gripper; + + ros::spin(); + +} diff --git a/ROS-groovy/pr2_teleop/src/teleop_pr2.cpp b/ROS-groovy/pr2_teleop/src/teleop_pr2.cpp new file mode 100644 index 0000000..2e3a427 --- /dev/null +++ b/ROS-groovy/pr2_teleop/src/teleop_pr2.cpp @@ -0,0 +1,414 @@ +/* + * teleop_pr2 + * Copyright (c) 2008, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +///\author Kevin Watts +///\brief Converts joystick commands on /joy to commands to PR2 base, spine, head + +#include +#include +#include +#include +#include +#include "ros/ros.h" +#include "sensor_msgs/Joy.h" +#include "geometry_msgs/Twist.h" +#include "sensor_msgs/JointState.h" +#include "trajectory_msgs/JointTrajectory.h" +#include "pr2_controllers_msgs/JointTrajectoryControllerState.h" +#include "topic_tools/MuxSelect.h" +#include "std_msgs/String.h" + +#include "std_msgs/Float64.h" + +#define TORSO_TOPIC "torso_controller/command" +#define HEAD_TOPIC "head_traj_controller/command" +const int PUBLISH_FREQ = 20; + +using namespace std; + +class TeleopPR2 +{ + public: + geometry_msgs::Twist cmd; + double min_torso, max_torso; + double req_torso_vel, torso_step; + //joy::Joy joy; + double req_vx, req_vy, req_vw, req_torso, req_pan, req_tilt; + double req_tilt_vel, req_pan_vel; + double max_vx, max_vy, max_vw, max_vx_run, max_vy_run, max_vw_run; + double max_pan, max_tilt, min_tilt, pan_step, tilt_step; + int axis_vx, axis_vy, axis_vw, axis_pan, axis_tilt; + int deadman_button, run_button, torso_dn_button, torso_up_button, head_button; + bool deadman_no_publish_, torso_publish_, head_publish_; + + bool deadman_, cmd_head; + bool use_mux_, last_deadman_; + std::string last_selected_topic_; + + ros::Time last_recieved_joy_message_time_; + ros::Duration joy_msg_timeout_; + + ros::NodeHandle n_, n_private_; + ros::Publisher vel_pub_; + ros::Publisher head_pub_; + ros::Publisher torso_pub_; + ros::Subscriber joy_sub_; + ros::Subscriber torso_state_sub_; + ros::ServiceClient mux_client_; + + TeleopPR2(bool deadman_no_publish = false) : + max_vx(0.6), max_vy(0.6), max_vw(0.8), + max_vx_run(0.6), max_vy_run(0.6), max_vw_run(0.8), + max_pan(2.7), max_tilt(1.4), min_tilt(-0.4), + pan_step(0.02), tilt_step(0.015), + deadman_no_publish_(deadman_no_publish), + torso_publish_(false), head_publish_(false), + deadman_(false), cmd_head(false), + use_mux_(false), last_deadman_(false), + n_private_("~") + { } + + void init() + { + cmd.linear.x = cmd.linear.y = cmd.angular.z = 0; + req_pan = req_tilt = 0; + req_torso = 0.0; + req_torso_vel = 0.0; + + //parameters for interaction with a mux on cmd_vel topics + n_private_.param("use_mux", use_mux_, false); + + n_private_.param("max_vx", max_vx, max_vx); + n_private_.param("max_vy", max_vy, max_vy); + n_private_.param("max_vw", max_vw, max_vw); + + // Set max speed while running + n_private_.param("max_vx_run", max_vx_run, max_vx_run); + n_private_.param("max_vy_run", max_vy_run, max_vy_run); + n_private_.param("max_vw_run", max_vw_run, max_vw_run); + + // Head pan/tilt parameters + n_private_.param("max_pan", max_pan, max_pan); + n_private_.param("max_tilt", max_tilt, max_tilt); + n_private_.param("min_tilt", min_tilt, min_tilt); + + n_private_.param("tilt_step", tilt_step, tilt_step); + n_private_.param("pan_step", pan_step, pan_step); + + n_private_.param("axis_pan", axis_pan, 0); + n_private_.param("axis_tilt", axis_tilt, 2); + + n_private_.param("axis_vx", axis_vx, 3); + n_private_.param("axis_vw", axis_vw, 0); + n_private_.param("axis_vy", axis_vy, 2); + + n_private_.param("torso_step", torso_step, 0.01); + n_private_.param("min_torso", min_torso, 0.0); + n_private_.param("max_torso", max_torso, 0.3); + + n_private_.param("deadman_button", deadman_button, 0); + n_private_.param("run_button", run_button, 0); + n_private_.param("torso_dn_button", torso_dn_button, 0); + n_private_.param("torso_up_button", torso_up_button, 0); + n_private_.param("head_button", head_button, 0); + + double joy_msg_timeout; + n_private_.param("joy_msg_timeout", joy_msg_timeout, 0.5); //default to 0.5 seconds timeout + if (joy_msg_timeout <= 0) + { + joy_msg_timeout_ = ros::Duration().fromSec(9999999);//DURATION_MAX; + ROS_DEBUG("joy_msg_timeout <= 0 -> no timeout"); + } + else + { + joy_msg_timeout_.fromSec(joy_msg_timeout); + ROS_DEBUG("joy_msg_timeout: %.3f", joy_msg_timeout_.toSec()); + } + + ROS_DEBUG("max_vx: %.3f m/s\n", max_vx); + ROS_DEBUG("max_vy: %.3f m/s\n", max_vy); + ROS_DEBUG("max_vw: %.3f deg/s\n", max_vw*180.0/M_PI); + + ROS_DEBUG("max_vx_run: %.3f m/s\n", max_vx_run); + ROS_DEBUG("max_vy_run: %.3f m/s\n", max_vy_run); + ROS_DEBUG("max_vw_run: %.3f deg/s\n", max_vw_run*180.0/M_PI); + + ROS_DEBUG("tilt step: %.3f rad\n", tilt_step); + ROS_DEBUG("pan step: %.3f rad\n", pan_step); + + ROS_DEBUG("axis_vx: %d\n", axis_vx); + ROS_DEBUG("axis_vy: %d\n", axis_vy); + ROS_DEBUG("axis_vw: %d\n", axis_vw); + ROS_DEBUG("axis_pan: %d\n", axis_pan); + ROS_DEBUG("axis_tilt: %d\n", axis_tilt); + + ROS_DEBUG("deadman_button: %d\n", deadman_button); + ROS_DEBUG("run_button: %d\n", run_button); + ROS_DEBUG("torso_dn_button: %d\n", torso_dn_button); + ROS_DEBUG("torso_up_button: %d\n", torso_up_button); + ROS_DEBUG("head_button: %d\n", head_button); + ROS_DEBUG("joy_msg_timeout: %f\n", joy_msg_timeout); + + if (torso_dn_button != 0 && torso_up_button != 0) + { + torso_publish_ = true; + torso_pub_ = n_.advertise(TORSO_TOPIC, 1); + } + + if (head_button != 0) + { + head_pub_ = n_.advertise(HEAD_TOPIC, 1); + head_publish_ = true; + } + + vel_pub_ = n_.advertise("cmd_vel", 1); + + joy_sub_ = n_.subscribe("joy", 10, &TeleopPR2::joy_cb, this); + torso_state_sub_ = n_.subscribe("torso_controller/state", 1, &TeleopPR2::torsoCB, this); + + //if we're going to use the mux, then we'll subscribe to state changes on the mux + if(use_mux_){ + ros::NodeHandle mux_nh("mux"); + mux_client_ = mux_nh.serviceClient("select"); + } + } + + ~TeleopPR2() { } + + /** Callback for joy topic **/ + void joy_cb(const sensor_msgs::Joy::ConstPtr& joy_msg) + { + //Record this message reciept + last_recieved_joy_message_time_ = ros::Time::now(); + + deadman_ = (((unsigned int)deadman_button < joy_msg->buttons.size()) && joy_msg->buttons[deadman_button]); + + if (!deadman_) + return; + + cmd_head = (((unsigned int)head_button < joy_msg->buttons.size()) && joy_msg->buttons[head_button] && head_publish_); + + // Base + bool running = (((unsigned int)run_button < joy_msg->buttons.size()) && joy_msg->buttons[run_button]); + double vx = running ? max_vx_run : max_vx; + double vy = running ? max_vy_run : max_vy; + double vw = running ? max_vw_run : max_vw; + + if((axis_vx >= 0) && (((unsigned int)axis_vx) < joy_msg->axes.size()) && !cmd_head) + req_vx = joy_msg->axes[axis_vx] * vx; + else + req_vx = 0.0; + if((axis_vy >= 0) && (((unsigned int)axis_vy) < joy_msg->axes.size()) && !cmd_head) + req_vy = joy_msg->axes[axis_vy] * vy; + else + req_vy = 0.0; + if((axis_vw >= 0) && (((unsigned int)axis_vw) < joy_msg->axes.size()) && !cmd_head) + req_vw = joy_msg->axes[axis_vw] * vw; + else + req_vw = 0.0; + + // Enforce max/mins for velocity + // Joystick should be [-1, 1], but it might not be + req_vx = max(min(req_vx, vx), -vx); + req_vy = max(min(req_vy, vy), -vy); + req_vw = max(min(req_vw, vw), -vw); + + // Head + // Update commanded position by how joysticks moving + // Don't add commanded position if deadman off + if (deadman_ && cmd_head) + { + if (axis_pan >= 0 && axis_pan < (int)joy_msg->axes.size()) + { + req_pan_vel = joy_msg->axes[axis_pan] * pan_step; + } + + if (axis_tilt >= 0 && axis_tilt < (int)joy_msg->axes.size()) + { + req_tilt_vel = joy_msg->axes[axis_tilt] * tilt_step; + } + } + + // Torso + bool down = (((unsigned int)torso_dn_button < joy_msg->buttons.size()) && joy_msg->buttons[torso_dn_button]); + bool up = (((unsigned int)torso_up_button < joy_msg->buttons.size()) && joy_msg->buttons[torso_up_button]); + + // Bring torso up/down + if (down && !up) + req_torso_vel = -torso_step; + else if (up && !down) + req_torso_vel = torso_step; + else + req_torso_vel = 0; + } + + + void send_cmd_vel() + { + if(deadman_ && + last_recieved_joy_message_time_ + joy_msg_timeout_ > ros::Time::now()) + { + //check if we need to switch the mux to our topic for teleop + if(use_mux_ && !last_deadman_){ + topic_tools::MuxSelect select_srv; + select_srv.request.topic = vel_pub_.getTopic(); + if(mux_client_.call(select_srv)){ + last_selected_topic_ = select_srv.response.prev_topic; + ROS_DEBUG("Setting mux to %s for teleop", select_srv.request.topic.c_str()); + } + else{ + ROS_ERROR("Failed to call select service %s on mux. Are you sure that it is up and connected correctly to the teleop node?", mux_client_.getService().c_str()); + } + } + + // Base + cmd.linear.x = req_vx; + cmd.linear.y = req_vy; + cmd.angular.z = req_vw; + vel_pub_.publish(cmd); + + // Torso + if (torso_publish_) + { + double dt = 1.0/double(PUBLISH_FREQ); + double horizon = 5.0 * dt; + + trajectory_msgs::JointTrajectory traj; + traj.header.stamp = ros::Time::now() + ros::Duration(0.01); + traj.joint_names.push_back("torso_lift_joint"); + traj.points.resize(1); + traj.points[0].positions.push_back(req_torso + req_torso_vel * horizon); + traj.points[0].velocities.push_back(req_torso_vel); + traj.points[0].time_from_start = ros::Duration(horizon); + torso_pub_.publish(traj); + + // Updates the current positions + req_torso += req_torso_vel * dt; + req_torso = max(min(req_torso, max_torso), min_torso); + } + + // Head + if (cmd_head && head_publish_) + { + double dt = 1.0/double(PUBLISH_FREQ); + double horizon = 3.0 * dt; + + trajectory_msgs::JointTrajectory traj; + traj.header.stamp = ros::Time::now() + ros::Duration(0.01); + traj.joint_names.push_back("head_pan_joint"); + traj.joint_names.push_back("head_tilt_joint"); + traj.points.resize(1); + traj.points[0].positions.push_back(req_pan + req_pan_vel * horizon); + traj.points[0].velocities.push_back(req_pan_vel); + traj.points[0].positions.push_back(req_tilt + req_tilt_vel * horizon); + traj.points[0].velocities.push_back(req_tilt_vel); + traj.points[0].time_from_start = ros::Duration(horizon); + head_pub_.publish(traj); + + // Updates the current positions + req_pan += req_pan_vel * dt; + req_pan = max(min(req_pan, max_pan), -max_pan); + req_tilt += req_tilt_vel * dt; + req_tilt = max(min(req_tilt, max_tilt), min_tilt); + } + + if (req_torso != 0) + fprintf(stdout,"teleop_base:: %f, %f, %f. Head:: %f, %f. Torso cmd: %f.\n", + cmd.linear.x, cmd.linear.y, cmd.angular.z, req_pan, req_tilt, req_torso_vel); + else + fprintf(stdout,"teleop_base:: %f, %f, %f. Head:: %f, %f\n", + cmd.linear.x ,cmd.linear.y, cmd.angular.z, req_pan, req_tilt); + } + else + { + //make sure to set the mux back to whatever topic it was on when we grabbed it if the deadman has just toggled + if(use_mux_ && last_deadman_){ + topic_tools::MuxSelect select_srv; + select_srv.request.topic = last_selected_topic_; + if(mux_client_.call(select_srv)){ + ROS_DEBUG("Setting mux back to %s", last_selected_topic_.c_str()); + } + else{ + ROS_ERROR("Failed to call select service %s on mux. Are you sure that it is up and connected correctly to the teleop node?", mux_client_.getService().c_str()); + } + } + + // Publish zero commands iff deadman_no_publish is false + cmd.linear.x = cmd.linear.y = cmd.angular.z = 0; + if (!deadman_no_publish_) + { + // Base + vel_pub_.publish(cmd); + } + } + + //make sure we store the state of our last deadman + last_deadman_ = deadman_; + } + + void torsoCB(const pr2_controllers_msgs::JointTrajectoryControllerState::ConstPtr &msg) + { + double xd = req_torso; + const double A = 0.003; + if (fabs(msg->actual.positions[0] - xd) > A*1.001) + { + req_torso = min(max(msg->actual.positions[0] - A, xd), msg->actual.positions[0] + A); + } + } +}; + +int main(int argc, char **argv) +{ + ros::init(argc, argv, "teleop_pr2"); + const char* opt_no_publish = "--deadman_no_publish"; + + bool no_publish = false; + for(int i=1;i nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +// Author: Kevin Watts + +#include +#include +#include +#include +#include + +#include +#include + +#define KEYCODE_A 0x61 +#define KEYCODE_D 0x64 +#define KEYCODE_S 0x73 +#define KEYCODE_W 0x77 +#define KEYCODE_Q 0x71 +#define KEYCODE_E 0x65 + +#define KEYCODE_A_CAP 0x41 +#define KEYCODE_D_CAP 0x44 +#define KEYCODE_S_CAP 0x53 +#define KEYCODE_W_CAP 0x57 +#define KEYCODE_Q_CAP 0x51 +#define KEYCODE_E_CAP 0x45 + +class TeleopPR2Keyboard +{ + private: + double walk_vel, run_vel, yaw_rate, yaw_rate_run; + geometry_msgs::Twist cmd; + + ros::NodeHandle n_; + ros::Publisher vel_pub_; + + public: + void init() + { + cmd.linear.x = cmd.linear.y = cmd.angular.z = 0; + + vel_pub_ = n_.advertise("cmd_vel", 1); + + ros::NodeHandle n_private("~"); + n_private.param("walk_vel", walk_vel, 0.5); + n_private.param("run_vel", run_vel, 1.0); + n_private.param("yaw_rate", yaw_rate, 1.0); + n_private.param("yaw_run_rate", yaw_rate_run, 1.5); + + } + + ~TeleopPR2Keyboard() { } + void keyboardLoop(); + +}; + +int kfd = 0; +struct termios cooked, raw; + +void quit(int sig) +{ + tcsetattr(kfd, TCSANOW, &cooked); + exit(0); +} + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "pr2_base_keyboard"); + + TeleopPR2Keyboard tpk; + tpk.init(); + + signal(SIGINT,quit); + + tpk.keyboardLoop(); + + return(0); +} + +void TeleopPR2Keyboard::keyboardLoop() +{ + char c; + bool dirty=false; + + // get the console in raw mode + tcgetattr(kfd, &cooked); + memcpy(&raw, &cooked, sizeof(struct termios)); + raw.c_lflag &=~ (ICANON | ECHO); + // Setting a new line, then end of file + raw.c_cc[VEOL] = 1; + raw.c_cc[VEOF] = 2; + tcsetattr(kfd, TCSANOW, &raw); + + puts("Reading from keyboard"); + puts("---------------------------"); + puts("Use 'WASD' to translate"); + puts("Use 'QE' to yaw"); + puts("Press 'Shift' to run"); + + + for(;;) + { + // get the next event from the keyboard + if(read(kfd, &c, 1) < 0) + { + perror("read():"); + exit(-1); + } + + cmd.linear.x = cmd.linear.y = cmd.angular.z = 0; + + switch(c) + { + // Walking + case KEYCODE_W: + cmd.linear.x = walk_vel; + dirty = true; + break; + case KEYCODE_S: + cmd.linear.x = - walk_vel; + dirty = true; + break; + case KEYCODE_A: + cmd.linear.y = walk_vel; + dirty = true; + break; + case KEYCODE_D: + cmd.linear.y = - walk_vel; + dirty = true; + break; + case KEYCODE_Q: + cmd.angular.z = yaw_rate; + dirty = true; + break; + case KEYCODE_E: + cmd.angular.z = - yaw_rate; + dirty = true; + break; + + // Running + case KEYCODE_W_CAP: + cmd.linear.x = run_vel; + dirty = true; + break; + case KEYCODE_S_CAP: + cmd.linear.x = - run_vel; + dirty = true; + break; + case KEYCODE_A_CAP: + cmd.linear.y = run_vel; + dirty = true; + break; + case KEYCODE_D_CAP: + cmd.linear.y = - run_vel; + dirty = true; + break; + case KEYCODE_Q_CAP: + cmd.angular.z = yaw_rate_run; + dirty = true; + break; + case KEYCODE_E_CAP: + cmd.angular.z = - yaw_rate_run; + dirty = true; + break; + } + + + if (dirty == true) + { + vel_pub_.publish(cmd); + } + + + } +} diff --git a/ROS-groovy/pr2_teleop/src/teleop_pr2_keyboard.cpp~ b/ROS-groovy/pr2_teleop/src/teleop_pr2_keyboard.cpp~ new file mode 100644 index 0000000..92eb9fb --- /dev/null +++ b/ROS-groovy/pr2_teleop/src/teleop_pr2_keyboard.cpp~ @@ -0,0 +1,208 @@ +/* + * teleop_pr2_keyboard + * Copyright (c) 2008, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +// Author: Kevin Watts + +#include +#include +#include +#include +#include + +#include +#include + +#define KEYCODE_A 0x61 +#define KEYCODE_D 0x64 +#define KEYCODE_S 0x73 +#define KEYCODE_W 0x77 +#define KEYCODE_Q 0x71 +#define KEYCODE_E 0x65 +#define KEYCODE_Z 0x7A +#define KEYCODE_X 0x78 +#define KEYCODE_F 0x66 + +#define KEYCODE_A_CAP 0x41 +#define KEYCODE_D_CAP 0x44 +#define KEYCODE_S_CAP 0x53 +#define KEYCODE_W_CAP 0x57 +#define KEYCODE_Q_CAP 0x51 +#define KEYCODE_E_CAP 0x45 +#define KEYCODE_Z_CAP 0x5A +#define KEYCODE_X_CAP 0x58 + +class TeleopPR2Keyboard +{ + private: + double walk_vel, run_vel, yaw_rate, yaw_rate_run; + geometry_msgs::Twist cmd; + + ros::NodeHandle n_; + ros::Publisher vel_pub_; + + public: + void init() + { + cmd.linear.x = cmd.linear.y = cmd.angular.z = 0; + + vel_pub_ = n_.advertise("cmd_vel", 1); + + ros::NodeHandle n_private("~"); + n_private.param("walk_vel", walk_vel, 0.5); + n_private.param("run_vel", run_vel, 1.0); + n_private.param("yaw_rate", yaw_rate, 1.0); + n_private.param("yaw_run_rate", yaw_rate_run, 1.5); + + } + + ~TeleopPR2Keyboard() { } + void keyboardLoop(); + +}; + +int kfd = 0; +struct termios cooked, raw; + +void quit(int sig) +{ + tcsetattr(kfd, TCSANOW, &cooked); + exit(0); +} + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "pr2_base_keyboard"); + + TeleopPR2Keyboard tpk; + tpk.init(); + + signal(SIGINT,quit); + + tpk.keyboardLoop(); + + return(0); +} + +void TeleopPR2Keyboard::keyboardLoop() +{ + char c; + bool dirty=false; + + // get the console in raw mode + tcgetattr(kfd, &cooked); + memcpy(&raw, &cooked, sizeof(struct termios)); + raw.c_lflag &=~ (ICANON | ECHO); + // Setting a new line, then end of file + raw.c_cc[VEOL] = 1; + raw.c_cc[VEOF] = 2; + tcsetattr(kfd, TCSANOW, &raw); + + puts("Reading from keyboard"); + puts("---------------------------"); + puts("Use 'WASD' to translate"); + puts("Use 'QE' to yaw"); + puts("Press 'Shift' to run"); + + + for(;;) + { + // get the next event from the keyboard + if(read(kfd, &c, 1) < 0) + { + perror("read():"); + exit(-1); + } + + cmd.linear.x = cmd.linear.y = cmd.angular.z = 0; + + switch(c) + { + // Walking + case KEYCODE_W: + cmd.linear.x = walk_vel; + dirty = true; + break; + case KEYCODE_S: + cmd.linear.x = - walk_vel; + dirty = true; + break; + case KEYCODE_A: + cmd.linear.y = walk_vel; + dirty = true; + break; + case KEYCODE_D: + cmd.linear.y = - walk_vel; + dirty = true; + break; + case KEYCODE_Q: + cmd.angular.z = yaw_rate; + dirty = true; + break; + case KEYCODE_E: + cmd.angular.z = - yaw_rate; + dirty = true; + break; + + // Running + case KEYCODE_W_CAP: + cmd.linear.x = run_vel; + dirty = true; + break; + case KEYCODE_S_CAP: + cmd.linear.x = - run_vel; + dirty = true; + break; + case KEYCODE_A_CAP: + cmd.linear.y = run_vel; + dirty = true; + break; + case KEYCODE_D_CAP: + cmd.linear.y = - run_vel; + dirty = true; + break; + case KEYCODE_Q_CAP: + cmd.angular.z = yaw_rate_run; + dirty = true; + break; + case KEYCODE_E_CAP: + cmd.angular.z = - yaw_rate_run; + dirty = true; + break; + } + + + if (dirty == true) + { + vel_pub_.publish(cmd); + } + + + } +} diff --git a/ROS-groovy/pr2_teleop/src/teleop_pr2_keyboard_modificato.cpp b/ROS-groovy/pr2_teleop/src/teleop_pr2_keyboard_modificato.cpp new file mode 100644 index 0000000..bf1764c --- /dev/null +++ b/ROS-groovy/pr2_teleop/src/teleop_pr2_keyboard_modificato.cpp @@ -0,0 +1,229 @@ +/* + * teleop_pr2_keyboard + * Copyright (c) 2008, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +// Author: Kevin Watts + +#include +#include +#include +#include +#include + +#include +#include + +#define KEYCODE_A 0x61 +#define KEYCODE_D 0x64 +#define KEYCODE_S 0x73 +#define KEYCODE_W 0x77 +#define KEYCODE_Q 0x71 +#define KEYCODE_E 0x65 +#define KEYCODE_Z 0x7A +#define KEYCODE_X 0x78 +#define KEYCODE_F 0x66 + +#define KEYCODE_A_CAP 0x41 +#define KEYCODE_D_CAP 0x44 +#define KEYCODE_S_CAP 0x53 +#define KEYCODE_W_CAP 0x57 +#define KEYCODE_Q_CAP 0x51 +#define KEYCODE_E_CAP 0x45 +#define KEYCODE_Z_CAP 0x5A +#define KEYCODE_X_CAP 0x58 + +class TeleopPR2Keyboard +{ + private: + double walk_vel, run_vel, yaw_rate, yaw_rate_run; + geometry_msgs::Twist cmd; + + ros::NodeHandle n_; + ros::Publisher vel_pub_; + + public: + void init() + { + cmd.linear.x = cmd.linear.y = cmd.angular.z = 0; + + vel_pub_ = n_.advertise("cmd_vel", 1); + + ros::NodeHandle n_private("~"); + n_private.param("walk_vel", walk_vel, 0.5); + n_private.param("run_vel", run_vel, 1.0); + n_private.param("yaw_rate", yaw_rate, 1.0); + n_private.param("yaw_run_rate", yaw_rate_run, 1.5); + + } + + ~TeleopPR2Keyboard() { } + void keyboardLoop(); + +}; + +int kfd = 0; +struct termios cooked, raw; + +void quit(int sig) +{ + tcsetattr(kfd, TCSANOW, &cooked); + exit(0); +} + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "pr2_base_keyboard"); + + TeleopPR2Keyboard tpk; + tpk.init(); + + signal(SIGINT,quit); + + tpk.keyboardLoop(); + + return(0); +} + +void TeleopPR2Keyboard::keyboardLoop() +{ + char c; + bool dirty=false; + + // get the console in raw mode + tcgetattr(kfd, &cooked); + memcpy(&raw, &cooked, sizeof(struct termios)); + raw.c_lflag &=~ (ICANON | ECHO); + // Setting a new line, then end of file + raw.c_cc[VEOL] = 1; + raw.c_cc[VEOF] = 2; + tcsetattr(kfd, TCSANOW, &raw); + + puts("Reading from keyboard"); + puts("---------------------------"); + puts("Use 'WASD' to translate"); + puts("Use 'ZX' for altitude control"); + puts("Use 'QE' to yaw"); + puts("Press 'Shift' to run"); + puts("Press 'F' to stop"); + + + for(;;) + { + // get the next event from the keyboard + if(read(kfd, &c, 1) < 0) + { + perror("read():"); + exit(-1); + } + + cmd.linear.x = cmd.linear.y = cmd.angular.z = cmd.linear.z = 0; + + switch(c) + { + // Walking + case KEYCODE_W: + cmd.linear.x = walk_vel; + dirty = true; + break; + case KEYCODE_S: + cmd.linear.x = - walk_vel; + dirty = true; + break; + case KEYCODE_A: + cmd.linear.y = walk_vel; + dirty = true; + break; + case KEYCODE_D: + cmd.linear.y = - walk_vel; + dirty = true; + break; + case KEYCODE_Q: + cmd.angular.z = yaw_rate; + dirty = true; + break; + case KEYCODE_E: + cmd.angular.z = - yaw_rate; + dirty = true; + break; + case KEYCODE_Z: + cmd.linear.z = walk_vel; + dirty=true; + break; + case KEYCODE_X: + cmd.linear.z = -walk_vel; + dirty=true; + break; + case KEYCODE_F: + dirty=true; + break; + + // Running + case KEYCODE_W_CAP: + cmd.linear.x = run_vel; + dirty = true; + break; + case KEYCODE_S_CAP: + cmd.linear.x = - run_vel; + dirty = true; + break; + case KEYCODE_A_CAP: + cmd.linear.y = run_vel; + dirty = true; + break; + case KEYCODE_D_CAP: + cmd.linear.y = - run_vel; + dirty = true; + break; + case KEYCODE_Q_CAP: + cmd.angular.z = yaw_rate_run; + dirty = true; + break; + case KEYCODE_E_CAP: + cmd.angular.z = - yaw_rate_run; + dirty = true; + break; + case KEYCODE_Z_CAP: + cmd.linear.z = run_vel; + dirty=true; + break; + case KEYCODE_X_CAP: + cmd.linear.z = -run_vel; + dirty=true; + break; + } + + + if (dirty == true) + { + vel_pub_.publish(cmd); + } + + + } +} diff --git a/ROS-groovy/pr2_teleop/src/teleop_pr2_keyboard_modificato.cpp~ b/ROS-groovy/pr2_teleop/src/teleop_pr2_keyboard_modificato.cpp~ new file mode 100644 index 0000000..bd2ac3f --- /dev/null +++ b/ROS-groovy/pr2_teleop/src/teleop_pr2_keyboard_modificato.cpp~ @@ -0,0 +1,231 @@ +/* + * teleop_pr2_keyboard + * Copyright (c) 2008, Willow Garage, Inc. + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in the + * documentation and/or other materials provided with the distribution. + * * Neither the name of the nor the names of its + * contributors may be used to endorse or promote products derived from + * this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" + * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE + * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE + * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE + * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR + * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF + * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS + * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN + * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) + * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +// Author: Kevin Watts + +#include +#include +#include +#include +#include + +#include +#include + +#define KEYCODE_A 0x61 +#define KEYCODE_D 0x64 +#define KEYCODE_S 0x73 +#define KEYCODE_W 0x77 +#define KEYCODE_Q 0x71 +#define KEYCODE_E 0x65 +#define KEYCODE_Z 0x7A +#define KEYCODE_X 0x78 +#define KEYCODE_F 0x66 + +#define KEYCODE_A_CAP 0x41 +#define KEYCODE_D_CAP 0x44 +#define KEYCODE_S_CAP 0x53 +#define KEYCODE_W_CAP 0x57 +#define KEYCODE_Q_CAP 0x51 +#define KEYCODE_E_CAP 0x45 +#define KEYCODE_Z_CAP 0x5A +#define KEYCODE_X_CAP 0x58 + +class TeleopPR2Keyboard +{ + private: + double walk_vel, run_vel, yaw_rate, yaw_rate_run; + geometry_msgs::Twist cmd; + + ros::NodeHandle n_; + ros::Publisher vel_pub_; + + public: + void init() + { + cmd.linear.x = cmd.linear.y = cmd.angular.z = 0; + + vel_pub_ = n_.advertise("cmd_vel", 1); + + ros::NodeHandle n_private("~"); + n_private.param("walk_vel", walk_vel, 0.5); + n_private.param("run_vel", run_vel, 1.0); + n_private.param("yaw_rate", yaw_rate, 1.0); + n_private.param("yaw_run_rate", yaw_rate_run, 1.5); + + } + + ~TeleopPR2Keyboard() { } + void keyboardLoop(); + +}; + +int kfd = 0; +struct termios cooked, raw; + +void quit(int sig) +{ + tcsetattr(kfd, TCSANOW, &cooked); + exit(0); +} + +int main(int argc, char** argv) +{ + ros::init(argc, argv, "pr2_base_keyboard"); + + TeleopPR2Keyboard tpk; + tpk.init(); + + signal(SIGINT,quit); + + tpk.keyboardLoop(); + + return(0); +} + +void TeleopPR2Keyboard::keyboardLoop() +{ + char c; + bool dirty=false; + + // get the console in raw mode + tcgetattr(kfd, &cooked); + memcpy(&raw, &cooked, sizeof(struct termios)); + raw.c_lflag &=~ (ICANON | ECHO); + // Setting a new line, then end of file + raw.c_cc[VEOL] = 1; + raw.c_cc[VEOF] = 2; + tcsetattr(kfd, TCSANOW, &raw); + + puts("Reading from keyboard"); + puts("---------------------------"); + puts("Use 'WASD' to translate"); + puts("Use 'ZX' for altitude control"); + puts("Use 'QE' to yaw"); + puts("Press 'Shift' to run"); + puts("Press 'F' to stop"); + + + for(;;) + { + // get the next event from the keyboard + if(read(kfd, &c, 1) < 0) + { + perror("read():"); + exit(-1); + } + + cmd.linear.x = cmd.linear.y = cmd.angular.z = 0; + + switch(c) + { + // Walking + case KEYCODE_W: + cmd.linear.x = walk_vel; + dirty = true; + break; + case KEYCODE_S: + cmd.linear.x = - walk_vel; + dirty = true; + break; + case KEYCODE_A: + cmd.linear.y = walk_vel; + dirty = true; + break; + case KEYCODE_D: + cmd.linear.y = - walk_vel; + dirty = true; + break; + case KEYCODE_Q: + cmd.angular.z = yaw_rate; + dirty = true; + break; + case KEYCODE_E: + cmd.angular.z = - yaw_rate; + dirty = true; + break; + case KEYCODE_Z: + cmd.linear.z = walk_vel; + dirty=true; + break; + case KEYCODE_X: + cmd.linear.z = -walk_vel; + dirty=true; + break; + case KEYCODE_F: + cmd.linear.x = cmd.linear.y = cmd.linear.z = 0; + cmd.angular.z = 0; + dirty=true; + break; + + // Running + case KEYCODE_W_CAP: + cmd.linear.x = run_vel; + dirty = true; + break; + case KEYCODE_S_CAP: + cmd.linear.x = - run_vel; + dirty = true; + break; + case KEYCODE_A_CAP: + cmd.linear.y = run_vel; + dirty = true; + break; + case KEYCODE_D_CAP: + cmd.linear.y = - run_vel; + dirty = true; + break; + case KEYCODE_Q_CAP: + cmd.angular.z = yaw_rate_run; + dirty = true; + break; + case KEYCODE_E_CAP: + cmd.angular.z = - yaw_rate_run; + dirty = true; + break; + case KEYCODE_Z_CAP: + cmd.linear.z = run_vel; + dirty=true; + break; + case KEYCODE_X_CAP: + cmd.linear.z = -run_vel; + dirty=true; + break; + } + + + if (dirty == true) + { + vel_pub_.publish(cmd); + } + + + } +} diff --git a/ROS-groovy/pr2_teleop/teleop_joystick.launch b/ROS-groovy/pr2_teleop/teleop_joystick.launch new file mode 100644 index 0000000..05fe51e --- /dev/null +++ b/ROS-groovy/pr2_teleop/teleop_joystick.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS-groovy/pr2_teleop/teleop_keyboard.launch b/ROS-groovy/pr2_teleop/teleop_keyboard.launch new file mode 100644 index 0000000..2311837 --- /dev/null +++ b/ROS-groovy/pr2_teleop/teleop_keyboard.launch @@ -0,0 +1,12 @@ + + + + + + + + + + + + diff --git a/ROS-groovy/quadrotore2_moveit/.setup_assistant b/ROS-groovy/quadrotore2_moveit/.setup_assistant new file mode 100644 index 0000000..68c8664 --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/.setup_assistant @@ -0,0 +1,8 @@ +moveit_setup_assistant_config: + URDF: + package: hector_quadrotor_urdf + relative_path: urdf/quadrotore.urdf + SRDF: + relative_path: config/quadrotor.srdf + CONFIG: + generated_timestamp: 1376647235 \ No newline at end of file diff --git a/ROS-groovy/quadrotore2_moveit/CMakeLists.txt b/ROS-groovy/quadrotore2_moveit/CMakeLists.txt new file mode 100644 index 0000000..5f70d30 --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/CMakeLists.txt @@ -0,0 +1,9 @@ +cmake_minimum_required(VERSION 2.8.3) +project(quadrotore2_moveit) + +find_package(catkin REQUIRED) + +catkin_package() + +install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) +install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}) diff --git a/ROS-groovy/quadrotore2_moveit/README.txt b/ROS-groovy/quadrotore2_moveit/README.txt new file mode 100644 index 0000000..3fa257b --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/README.txt @@ -0,0 +1 @@ +Configuration pack to make moveit control the simulated uav diff --git a/ROS-groovy/quadrotore2_moveit/README.txt~ b/ROS-groovy/quadrotore2_moveit/README.txt~ new file mode 100644 index 0000000..e69de29 diff --git a/ROS-groovy/quadrotore2_moveit/config/bench.config b/ROS-groovy/quadrotore2_moveit/config/bench.config new file mode 100644 index 0000000..5c4fd01 --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/config/bench.config @@ -0,0 +1,11 @@ +[scene] +name=demonstrated +output=/home/alessio/bench.log +runs=5 + +[plugin] +name=ompl_interface/OMPLPlanner +planners=RRTConnectkConfigDefault +runs=100 + + diff --git a/ROS-groovy/quadrotore2_moveit/config/bench.config~ b/ROS-groovy/quadrotore2_moveit/config/bench.config~ new file mode 100644 index 0000000..74afe46 --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/config/bench.config~ @@ -0,0 +1,13 @@ +[scene] +name=pole_blocking_right_arm_pan +output=mylocation.log +runs=2 + +[plugin] +name=ompl_interface/OMPLPlanner +planners=KPIECEkConfigDefault RRTConnectkConfigDefault +runs=10 + +[plugin] +name=my_lib/myPlanner +planners=planner_name diff --git a/ROS-groovy/quadrotore2_moveit/config/configBench.cfg b/ROS-groovy/quadrotore2_moveit/config/configBench.cfg new file mode 100644 index 0000000..70b381f --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/config/configBench.cfg @@ -0,0 +1,9 @@ +[scene] +name=kitchen +output=/home/alessio/Scrivania/mylog.log +runs=2 + +[plugin] +name=ompl_interface/OMPLPlanner +planners=RRTkConfigDefault RRTConnectkConfigDefault RRTstarkConfigDefault PRMkConfigDefault PRMstarkConfigDefault SBLkConfigDefault ESTkConfigDefault +runs=10 diff --git a/ROS-groovy/quadrotore2_moveit/config/configBench.cfg~ b/ROS-groovy/quadrotore2_moveit/config/configBench.cfg~ new file mode 100644 index 0000000..c3aa349 --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/config/configBench.cfg~ @@ -0,0 +1,9 @@ +[scene] +name=kitchen +output=/home/alessio/Scrivania/mylog.log +runs=2 + +[plugin] +name=ompl_interface/OMPLPlanner +planners=KPIECEkConfigDefault RRTConnectkConfigDefault +runs=10 diff --git a/ROS-groovy/quadrotore2_moveit/config/controllers.yaml b/ROS-groovy/quadrotore2_moveit/config/controllers.yaml new file mode 100644 index 0000000..43d8655 --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/config/controllers.yaml @@ -0,0 +1,6 @@ +controller_list: + - name: multi_dof_joint_trajectory_action + type: MultiDofFollowJointTrajectory + default: true + joints: + - Base diff --git a/ROS-groovy/quadrotore2_moveit/config/controllers.yaml~ b/ROS-groovy/quadrotore2_moveit/config/controllers.yaml~ new file mode 100644 index 0000000..35b7731 --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/config/controllers.yaml~ @@ -0,0 +1,6 @@ +controller_list: + - name: joint_trajectory_action + type: MultiDofFollowJointTrajectory + default: true + joints: + - Base diff --git a/ROS-groovy/quadrotore2_moveit/config/joint_limits.yaml b/ROS-groovy/quadrotore2_moveit/config/joint_limits.yaml new file mode 100644 index 0000000..25c246d --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/config/joint_limits.yaml @@ -0,0 +1,6 @@ +joint_limits: + Base: + has_velocity_limits: true + max_velocity: 0.2 + has_acceleration_limits: true + max_acceleration: 0.04 diff --git a/ROS-groovy/quadrotore2_moveit/config/joint_limits.yaml~ b/ROS-groovy/quadrotore2_moveit/config/joint_limits.yaml~ new file mode 100644 index 0000000..21c98cf --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/config/joint_limits.yaml~ @@ -0,0 +1,2 @@ +joint_limits: + {} \ No newline at end of file diff --git a/ROS-groovy/quadrotore2_moveit/config/kinematics.yaml b/ROS-groovy/quadrotore2_moveit/config/kinematics.yaml new file mode 100644 index 0000000..75046a7 --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/config/kinematics.yaml @@ -0,0 +1,5 @@ +Quadrotore: + kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin + kinematics_solver_search_resolution: 0.005 + kinematics_solver_timeout: 0.005 + kinematics_solver_attempts: 3 \ No newline at end of file diff --git a/ROS-groovy/quadrotore2_moveit/config/ompl_planning.yaml b/ROS-groovy/quadrotore2_moveit/config/ompl_planning.yaml new file mode 100644 index 0000000..5951b6a --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/config/ompl_planning.yaml @@ -0,0 +1,35 @@ +planner_configs: + SBLkConfigDefault: + type: geometric::SBL + ESTkConfigDefault: + type: geometric::EST + LBKPIECEkConfigDefault: + type: geometric::LBKPIECE + BKPIECEkConfigDefault: + type: geometric::BKPIECE + KPIECEkConfigDefault: + type: geometric::KPIECE + RRTkConfigDefault: + type: geometric::RRT + RRTConnectkConfigDefault: + type: geometric::RRTConnect + RRTstarkConfigDefault: + type: geometric::RRTstar + PRMkConfigDefault: + type: geometric::PRM + PRMstarkConfigDefault: + type: geometric::PRMstar +Quadrotore: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + projection_evaluator: joints(Base) + longest_valid_segment_fraction: 0.05 diff --git a/ROS-groovy/quadrotore2_moveit/config/ompl_planning.yaml~ b/ROS-groovy/quadrotore2_moveit/config/ompl_planning.yaml~ new file mode 100644 index 0000000..b4d6561 --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/config/ompl_planning.yaml~ @@ -0,0 +1,35 @@ +planner_configs: + SBLkConfigDefault: + type: geometric::SBL + ESTkConfigDefault: + type: geometric::EST + LBKPIECEkConfigDefault: + type: geometric::LBKPIECE + BKPIECEkConfigDefault: + type: geometric::BKPIECE + KPIECEkConfigDefault: + type: geometric::KPIECE + RRTkConfigDefault: + type: geometric::RRT + RRTConnectkConfigDefault: + type: geometric::RRTConnect + RRTstarkConfigDefault: + type: geometric::RRTstar + PRMkConfigDefault: + type: geometric::PRM + PRMstarkConfigDefault: + type: geometric::PRMstar +Quadrotore: + planner_configs: + - SBLkConfigDefault + - ESTkConfigDefault + - LBKPIECEkConfigDefault + - BKPIECEkConfigDefault + - KPIECEkConfigDefault + - RRTkConfigDefault + - RRTConnectkConfigDefault + - RRTstarkConfigDefault + - PRMkConfigDefault + - PRMstarkConfigDefault + projection_evaluator: joints(Base, camera_joint) + longest_valid_segment_fraction: 0.05 diff --git a/ROS-groovy/quadrotore2_moveit/config/quadrotor.srdf b/ROS-groovy/quadrotore2_moveit/config/quadrotor.srdf new file mode 100644 index 0000000..99cc25d --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/config/quadrotor.srdf @@ -0,0 +1,24 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS-groovy/quadrotore2_moveit/config/sensors_rgbd.yaml b/ROS-groovy/quadrotore2_moveit/config/sensors_rgbd.yaml new file mode 100644 index 0000000..5f18a3a --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/config/sensors_rgbd.yaml @@ -0,0 +1,6 @@ +sensors: + - sensor_plugin: occupancy_map_monitor/PointCloudOctomapUpdater + point_cloud_topic: /camera/depth/points + max_range: 6.0 + frame_subsample: 1 + point_subsample: 1 diff --git a/ROS-groovy/quadrotore2_moveit/launch/default_warehouse_db.launch b/ROS-groovy/quadrotore2_moveit/launch/default_warehouse_db.launch new file mode 100644 index 0000000..d5ee140 --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/launch/default_warehouse_db.launch @@ -0,0 +1,13 @@ + + + + + + + + + + + + + diff --git a/ROS-groovy/quadrotore2_moveit/launch/demo.launch b/ROS-groovy/quadrotore2_moveit/launch/demo.launch new file mode 100644 index 0000000..10db78c --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/launch/demo.launch @@ -0,0 +1,26 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS-groovy/quadrotore2_moveit/launch/move_group.launch b/ROS-groovy/quadrotore2_moveit/launch/move_group.launch new file mode 100644 index 0000000..7451d9c --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/launch/move_group.launch @@ -0,0 +1,57 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS-groovy/quadrotore2_moveit/launch/moveit.rviz b/ROS-groovy/quadrotore2_moveit/launch/moveit.rviz new file mode 100644 index 0000000..a09e2d9 --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/launch/moveit.rviz @@ -0,0 +1,204 @@ +Panels: + - Class: rviz/Displays + Help Height: 84 + Name: Displays + Property Tree Widget: + Expanded: + - /MotionPlanning1 + - /MotionPlanning1/Planning Metrics1 + - /MotionPlanning1/Planned Path1 + Splitter Ratio: 0.74256 + Tree Height: 136 + - Class: rviz/Help + Name: Help + - Class: rviz/Views + Expanded: + - /Current View1 + Name: Views + Splitter Ratio: 0.5 +Visualization Manager: + Class: "" + Displays: + - Alpha: 0.5 + Cell Size: 1 + Class: rviz/Grid + Color: 160; 160; 164 + Enabled: true + Line Style: + Line Width: 0.03 + Value: Lines + Name: Grid + Normal Cell Count: 0 + Offset: + X: 0 + Y: 0 + Z: 0 + Plane: XY + Plane Cell Count: 10 + Reference Frame: + Value: true + - Class: moveit_rviz_plugin/MotionPlanning + Enabled: true + MoveIt_Goal_Tolerance: 0 + MoveIt_Planning_Time: 5 + MoveIt_Use_Constraint_Aware_IK: true + MoveIt_Warehouse_Host: 127.0.0.1 + MoveIt_Warehouse_Port: 33829 + Name: MotionPlanning + Planned Path: + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_rgb_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + sonar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Loop Animation: false + Robot Alpha: 0.5 + Show Robot Collision: false + Show Robot Visual: true + Show Trail: false + State Display Time: 0.05 s + Trajectory Topic: /move_group/display_planned_path + Planning Metrics: + Payload: 1 + Show Joint Torques: false + Show Manipulability: false + Show Manipulability Index: false + Show Weight Limit: false + TextHeight: 0.08 + Planning Request: + Colliding Link Color: 255; 0; 0 + Goal State Alpha: 1 + Goal State Color: 250; 128; 0 + Interactive Marker Size: 0 + Joint Violation Color: 255; 0; 255 + Planning Group: Quadrotore + Query Goal State: true + Query Start State: true + Show Workspace: false + Start State Alpha: 1 + Start State Color: 0; 255; 0 + Planning Scene Topic: /move_group/monitored_planning_scene + Robot Description: robot_description + Scene Geometry: + Scene Alpha: 0.9 + Scene Color: 50; 230; 50 + Scene Display Time: 0.2 + Show Scene Geometry: true + Voxel Coloring: Z-Axis + Voxel Rendering: Occupied Voxels + Scene Robot: + Attached Body Color: 150; 50; 150 + Links: + All Links Enabled: true + Expand Joint Details: false + Expand Link Details: false + Expand Tree: false + Link Tree Style: Links in Alphabetic Order + base_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_depth_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_depth_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + camera_rgb_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + camera_rgb_optical_frame: + Alpha: 1 + Show Axes: false + Show Trail: false + sonar_link: + Alpha: 1 + Show Axes: false + Show Trail: false + Value: true + Robot Alpha: 0.5 + Show Scene Robot: true + Value: true + Enabled: true + Global Options: + Background Color: 48; 48; 48 + Fixed Frame: /odom_combined + Name: root + Tools: + - Class: rviz/Interact + Hide Inactive Objects: true + - Class: rviz/MoveCamera + - Class: rviz/Select + Value: true + Views: + Current: + Class: rviz/XYOrbit + Distance: 14.8619 + Focal Point: + X: -0.739878 + Y: 0.925553 + Z: 2.23518e-07 + Name: Current View + Near Clip Distance: 0.01 + Pitch: 0.134797 + Target Frame: /base_link + Value: XYOrbit (rviz) + Yaw: 1.00677 + Saved: ~ +Window Geometry: + Displays: + collapsed: false + Height: 744 + Help: + collapsed: false + Hide Left Dock: false + Hide Right Dock: false + Motion Planning: + collapsed: false + QMainWindow State: 000000ff00000000fd0000000100000000000002a2000002a2fc0200000005fb000000100044006900730070006c00610079007301000000280000011d000000dd00fffffffb0000000800480065006c00700000000342000000bb0000007600fffffffb0000000a0056006900650077007300000003b0000000b0000000b000fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e0067010000014b0000017f0000017400ffffff000002ae000002a200000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000 + Views: + collapsed: false + Width: 1366 + X: -8 + Y: -4 diff --git a/ROS-groovy/quadrotore2_moveit/launch/moveit_rviz.launch b/ROS-groovy/quadrotore2_moveit/launch/moveit_rviz.launch new file mode 100644 index 0000000..dd0fffd --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/launch/moveit_rviz.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + diff --git a/ROS-groovy/quadrotore2_moveit/launch/ompl_planning_pipeline.launch b/ROS-groovy/quadrotore2_moveit/launch/ompl_planning_pipeline.launch new file mode 100644 index 0000000..e9fab15 --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/launch/ompl_planning_pipeline.launch @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + diff --git a/ROS-groovy/quadrotore2_moveit/launch/ompl_planning_pipeline.launch~ b/ROS-groovy/quadrotore2_moveit/launch/ompl_planning_pipeline.launch~ new file mode 100644 index 0000000..e9fab15 --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/launch/ompl_planning_pipeline.launch~ @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + diff --git a/ROS-groovy/quadrotore2_moveit/launch/plan_and_execute.launch b/ROS-groovy/quadrotore2_moveit/launch/plan_and_execute.launch new file mode 100644 index 0000000..d9630bb --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/launch/plan_and_execute.launch @@ -0,0 +1,10 @@ + + # The planning and execution components of MoveIt! configured to + # publish the current configuration of the robot (simulated or real) + # and the current state of the world as seen by the planner + + + + # The visualization component of MoveIt! + + diff --git a/ROS-groovy/quadrotore2_moveit/launch/plan_and_execute.launch~ b/ROS-groovy/quadrotore2_moveit/launch/plan_and_execute.launch~ new file mode 100644 index 0000000..87bb3d9 --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/launch/plan_and_execute.launch~ @@ -0,0 +1,11 @@ + + # The planning and execution components of MoveIt! configured to + # publish the current configuration of the robot (simulated or real) + # and the current state of the world as seen by the planner + + + + + # The visualization component of MoveIt! + + diff --git a/ROS-groovy/quadrotore2_moveit/launch/planning_context.launch b/ROS-groovy/quadrotore2_moveit/launch/planning_context.launch new file mode 100644 index 0000000..8dd8064 --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/launch/planning_context.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ROS-groovy/quadrotore2_moveit/launch/planning_pipeline.launch b/ROS-groovy/quadrotore2_moveit/launch/planning_pipeline.launch new file mode 100644 index 0000000..2df89b1 --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/launch/planning_pipeline.launch @@ -0,0 +1,10 @@ + + + + + + + + + diff --git a/ROS-groovy/quadrotore2_moveit/launch/quadrotor_moveit_controller_manager.launch b/ROS-groovy/quadrotore2_moveit/launch/quadrotor_moveit_controller_manager.launch new file mode 100644 index 0000000..aa4c6e1 --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/launch/quadrotor_moveit_controller_manager.launch @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ROS-groovy/quadrotore2_moveit/launch/quadrotor_moveit_controller_manager.launch~ b/ROS-groovy/quadrotore2_moveit/launch/quadrotor_moveit_controller_manager.launch~ new file mode 100644 index 0000000..aa4c6e1 --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/launch/quadrotor_moveit_controller_manager.launch~ @@ -0,0 +1,10 @@ + + + + + + + + + + diff --git a/ROS-groovy/quadrotore2_moveit/launch/quadrotor_moveit_sensor_manager.launch b/ROS-groovy/quadrotore2_moveit/launch/quadrotor_moveit_sensor_manager.launch new file mode 100644 index 0000000..2eda3d0 --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/launch/quadrotor_moveit_sensor_manager.launch @@ -0,0 +1,7 @@ + + + + + + + diff --git a/ROS-groovy/quadrotore2_moveit/launch/quadrotor_moveit_sensor_manager.launch~ b/ROS-groovy/quadrotore2_moveit/launch/quadrotor_moveit_sensor_manager.launch~ new file mode 100644 index 0000000..86bab41 --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/launch/quadrotor_moveit_sensor_manager.launch~ @@ -0,0 +1,7 @@ + + + + + + + diff --git a/ROS-groovy/quadrotore2_moveit/launch/run_benchmark_ompl.launch b/ROS-groovy/quadrotore2_moveit/launch/run_benchmark_ompl.launch new file mode 100644 index 0000000..9197dce --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/launch/run_benchmark_ompl.launch @@ -0,0 +1,21 @@ + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS-groovy/quadrotore2_moveit/launch/run_benchmark_ompl.launch~ b/ROS-groovy/quadrotore2_moveit/launch/run_benchmark_ompl.launch~ new file mode 100644 index 0000000..b417bbc --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/launch/run_benchmark_ompl.launch~ @@ -0,0 +1,22 @@ + + + + + + + + + + + + + + + + + + + + + + diff --git a/ROS-groovy/quadrotore2_moveit/launch/sensor_manager.launch b/ROS-groovy/quadrotore2_moveit/launch/sensor_manager.launch new file mode 100644 index 0000000..c95799e --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/launch/sensor_manager.launch @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/ROS-groovy/quadrotore2_moveit/launch/setup_assistant.launch b/ROS-groovy/quadrotore2_moveit/launch/setup_assistant.launch new file mode 100644 index 0000000..05303c4 --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/launch/setup_assistant.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + diff --git a/ROS-groovy/quadrotore2_moveit/launch/trajectory_execution.launch b/ROS-groovy/quadrotore2_moveit/launch/trajectory_execution.launch new file mode 100644 index 0000000..4d1a004 --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/launch/trajectory_execution.launch @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ROS-groovy/quadrotore2_moveit/launch/trajectory_execution.launch~ b/ROS-groovy/quadrotore2_moveit/launch/trajectory_execution.launch~ new file mode 100644 index 0000000..c9ef6c3 --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/launch/trajectory_execution.launch~ @@ -0,0 +1,16 @@ + + + + + + + + + + + + + + + + diff --git a/ROS-groovy/quadrotore2_moveit/launch/warehouse.launch b/ROS-groovy/quadrotore2_moveit/launch/warehouse.launch new file mode 100644 index 0000000..3c4a533 --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/launch/warehouse.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/ROS-groovy/quadrotore2_moveit/launch/warehouse_settings.launch b/ROS-groovy/quadrotore2_moveit/launch/warehouse_settings.launch new file mode 100644 index 0000000..d11aaeb --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/launch/warehouse_settings.launch @@ -0,0 +1,15 @@ + + + + + + + + + + + + + + + diff --git a/ROS-groovy/quadrotore2_moveit/package.xml b/ROS-groovy/quadrotore2_moveit/package.xml new file mode 100644 index 0000000..d47af01 --- /dev/null +++ b/ROS-groovy/quadrotore2_moveit/package.xml @@ -0,0 +1,25 @@ + + + quadrotore2_moveit + 0.2.0 + + An automatically generated package with all the configuration and launch files for using the quadrotor with the MoveIt Motion Planning Framework + + MoveIt Setup Assistant + MoveIt Setup Assistant + + BSD + + http://moveit.ros.org/ + https://github.com/ros-planning/moveit_setup_assistant/issues + https://github.com/ros-planning/moveit_setup_assistant + + moveit_ros_move_group + xacro + hector_quadrotor_urdf + hector_quadrotor_urdf + + + catkin + + diff --git a/ROS-groovy/readme.txt b/ROS-groovy/readme.txt new file mode 100644 index 0000000..b08ac94 --- /dev/null +++ b/ROS-groovy/readme.txt @@ -0,0 +1,36 @@ +In order to run the simulation you will need: + ROS, Hector_quadrotor, gazebo, Moveit! and the few extra in this .rar. + +The external programs can be found here: +ROS ---> http://wiki.ros.org/ +Hector_quadrotor ---> http://wiki.ros.org/hector_quadrotor +gazebo ---> http://wiki.ros.org/gazebo +Moveit! ---> http://moveit.ros.org/ + +First of all you should create a configuration pack for moveIt! in order to correctly interface it with hector quadrotor, in other word you should create a series of configuration file to correctly interface the quadrotor with the plugin. +You can do it by yourself following this tutorials ( http://moveit.ros.org/wiki/Quick_Start) and using my modified version of hector_quadrotor.urdf (you can find it in "hector_quadrotor/hector_quadrotor_urdf/urdf/quadrotore.urdf" ), just remember to add a virtual floating joint between the base link of the quadrotor and teh fixed odometry link... +or you can simply use the pack I already made with everything configured --> quadrotore2_moveit. +In the second case everything should be configured correctly and the quadrotor should be able to build a map of the place and fly itself using moveit!. +Now you just need to launch Gazebo and spawn the quadrotor("sh files/1-simulator.sh"), launch the action_controller node ("sh files/2-controllers.sh") and finaly launch the moveit plugin and rviz visualizer ("sh files/3-planner.sh"). Optionally you can spawn a node to teleoperate the quadrotor in the simulation from the terminal ("sh files/4-teleOp.sh"). +Maybe in order to make the sh work you should change some path! + +You can simply overwrite the standard's packages downloaded from the official wiki pages (like pr2_teleop, hector_quadrotor or moveit_simple_controller_manager) with my modified ones and recompile all in order to obtain the modified packages and the additional functionalities. +Contents of the folders: + +->action_controller: + action controller to translate geometrical trajectory in cmd_vel to control the quadrotor, it automatically translate the geometrical traiectory produced by moveit in comand to make the quadrotor move. + +->moveit_simple_controller_manager: + modified version of moveit_simple_controller_manager to handle multiDofFollowJointTrajectoryAction and to send the trajectory to the custom action_controller above defined + +->hector_quadrotor: + modified urdf of the quadrotor to publish the odometry of the joints + +->pr2_teleop: + simple node to teleop the simulated quadrotor using the keyboard + +->quadrotore2_moveit: + configuration file for moveit! + +->sh files: + bash file to launch the different part of the simulation diff --git a/ROS-groovy/sh files/1-simulator.sh b/ROS-groovy/sh files/1-simulator.sh new file mode 100644 index 0000000..a490d5d --- /dev/null +++ b/ROS-groovy/sh files/1-simulator.sh @@ -0,0 +1,7 @@ +#!/bin/bash +roslaunch hector_gazebo_worlds wg_collada_realtime.launch & +sleep 10 +roslaunch hector_quadrotor_gazebo mySpawn_quadrotor_with_kinect.launch + + + diff --git a/ROS-groovy/sh files/2-controller.sh b/ROS-groovy/sh files/2-controller.sh new file mode 100644 index 0000000..cde72a3 --- /dev/null +++ b/ROS-groovy/sh files/2-controller.sh @@ -0,0 +1,3 @@ +#!/bin/bash +rosrun action_controller actionController + diff --git a/ROS-groovy/sh files/3-planner.sh b/ROS-groovy/sh files/3-planner.sh new file mode 100644 index 0000000..8ead475 --- /dev/null +++ b/ROS-groovy/sh files/3-planner.sh @@ -0,0 +1,6 @@ +#!/bin/bash +source ~/catkin_workspace/devel/setup.sh +ROS_PACKAGE_PATH="/home/alessio/quadrotore2_moveit":$ROS_PACKAGE_PATH +roslaunch quadrotore2_moveit plan_and_execute.launch & +sleep 5 +rosrun dynamic_reconfigure dynparam set /move_group/trajectory_execution execution_duration_monitoring false diff --git a/ROS-groovy/sh files/3-planner.sh~ b/ROS-groovy/sh files/3-planner.sh~ new file mode 100644 index 0000000..9652186 --- /dev/null +++ b/ROS-groovy/sh files/3-planner.sh~ @@ -0,0 +1,4 @@ +#!/bin/bash +source ~/catkin_workspace/devel/setup.sh +ROS_PACKAGE_PATH="/home/alessio/quadrotore2_moveit":$ROS_PACKAGE_PATH +roslaunch quadrotore2_moveit plan_and_execute.launch diff --git a/ROS-groovy/sh files/4-teleOp.sh b/ROS-groovy/sh files/4-teleOp.sh new file mode 100644 index 0000000..e881773 --- /dev/null +++ b/ROS-groovy/sh files/4-teleOp.sh @@ -0,0 +1 @@ +rosrun pr2_teleop controller diff --git a/contributors.txt b/contributors.txt index 08b14f7..231106e 100644 --- a/contributors.txt +++ b/contributors.txt @@ -1 +1,2 @@ -AlessioT +AlessioT -- Groovy +wlemkens -- Indigo conversion diff --git a/contributors.txt~ b/contributors.txt~ new file mode 100644 index 0000000..08b14f7 --- /dev/null +++ b/contributors.txt~ @@ -0,0 +1 @@ +AlessioT