asterism 0.0.0 → 0.1.0

data/data/msgs/std_msgs/msg/Int16MultiArray.rb

@@ -0,0 +1,35 @@
+# std_msgs/msg/Int16MultiArray (ROS 2 jazzy), generated by asterism_msggen.rb from
+# Int16MultiArray.msg of the package std_msgs.
+# License: Apache License 2.0, as the definition (package.xml of std_msgs).
+# Do not edit; regenerate instead.
+
+::Asterism::ROS.require_type("std_msgs/msg/MultiArrayLayout")
+
+module ::Asterism::ROS::StdMsgs
+end
+
+class ::Asterism::ROS::StdMsgs::Int16MultiArray < ::Asterism::ROS::Message
+  ROS_NAME = "std_msgs/msg/Int16MultiArray"
+  TYPE_NAME = "std_msgs::msg::dds_::Int16MultiArray_"
+  TYPE_HASH = "RIHS01_b58810e8e5b90fb19a5062469eb8409f5ab11a446d60de7157a1457e52a076ce"
+  FIELDS = [:layout, :data]
+
+  attr_accessor :layout, :data
+
+  def initialize(layout: nil, data: nil)
+    @layout = ::Asterism::ROS::StdMsgs::MultiArrayLayout.from(layout)
+    @data = data.nil? ? [] : data
+  end
+
+  def self.write(w, m)
+    ::Asterism::ROS::StdMsgs::MultiArrayLayout.write(w, ::Asterism::ROS::StdMsgs::MultiArrayLayout.from(m.layout))
+    w.array(:int16, m.data, nil, nil)
+  end
+
+  def self.read(r)
+    m = new
+    m.layout = ::Asterism::ROS::StdMsgs::MultiArrayLayout.read(r)
+    m.data = r.array(:int16, nil)
+    m
+  end
+end

data/data/msgs/std_msgs/msg/Int32.rb

@@ -0,0 +1,30 @@
+# std_msgs/msg/Int32 (ROS 2 jazzy), generated by asterism_msggen.rb from
+# Int32.msg of the package std_msgs.
+# License: Apache License 2.0, as the definition (package.xml of std_msgs).
+# Do not edit; regenerate instead.
+
+module ::Asterism::ROS::StdMsgs
+end
+
+class ::Asterism::ROS::StdMsgs::Int32 < ::Asterism::ROS::Message
+  ROS_NAME = "std_msgs/msg/Int32"
+  TYPE_NAME = "std_msgs::msg::dds_::Int32_"
+  TYPE_HASH = "RIHS01_b6578ded3c58c626cfe8d1a6fb6e04f706f97e9f03d2727c9ff4e74b1cef0deb"
+  FIELDS = [:data]
+
+  attr_accessor :data
+
+  def initialize(data: nil)
+    @data = data.nil? ? 0 : data
+  end
+
+  def self.write(w, m)
+    w.int32(m.data)
+  end
+
+  def self.read(r)
+    m = new
+    m.data = r.int32
+    m
+  end
+end

data/data/msgs/std_msgs/msg/Int32MultiArray.rb

@@ -0,0 +1,35 @@
+# std_msgs/msg/Int32MultiArray (ROS 2 jazzy), generated by asterism_msggen.rb from
+# Int32MultiArray.msg of the package std_msgs.
+# License: Apache License 2.0, as the definition (package.xml of std_msgs).
+# Do not edit; regenerate instead.
+
+::Asterism::ROS.require_type("std_msgs/msg/MultiArrayLayout")
+
+module ::Asterism::ROS::StdMsgs
+end
+
+class ::Asterism::ROS::StdMsgs::Int32MultiArray < ::Asterism::ROS::Message
+  ROS_NAME = "std_msgs/msg/Int32MultiArray"
+  TYPE_NAME = "std_msgs::msg::dds_::Int32MultiArray_"
+  TYPE_HASH = "RIHS01_84a7346323525d1b4dfca899df3820f245e54009dac5a6b69217d14fdefd1701"
+  FIELDS = [:layout, :data]
+
+  attr_accessor :layout, :data
+
+  def initialize(layout: nil, data: nil)
+    @layout = ::Asterism::ROS::StdMsgs::MultiArrayLayout.from(layout)
+    @data = data.nil? ? [] : data
+  end
+
+  def self.write(w, m)
+    ::Asterism::ROS::StdMsgs::MultiArrayLayout.write(w, ::Asterism::ROS::StdMsgs::MultiArrayLayout.from(m.layout))
+    w.array(:int32, m.data, nil, nil)
+  end
+
+  def self.read(r)
+    m = new
+    m.layout = ::Asterism::ROS::StdMsgs::MultiArrayLayout.read(r)
+    m.data = r.array(:int32, nil)
+    m
+  end
+end

data/data/msgs/std_msgs/msg/Int64.rb

@@ -0,0 +1,30 @@
+# std_msgs/msg/Int64 (ROS 2 jazzy), generated by asterism_msggen.rb from
+# Int64.msg of the package std_msgs.
+# License: Apache License 2.0, as the definition (package.xml of std_msgs).
+# Do not edit; regenerate instead.
+
+module ::Asterism::ROS::StdMsgs
+end
+
+class ::Asterism::ROS::StdMsgs::Int64 < ::Asterism::ROS::Message
+  ROS_NAME = "std_msgs/msg/Int64"
+  TYPE_NAME = "std_msgs::msg::dds_::Int64_"
+  TYPE_HASH = "RIHS01_8cd1048c2f186b6bd9a92472dc1ce51723c0833a221e2b7aecfff111774f4b49"
+  FIELDS = [:data]
+
+  attr_accessor :data
+
+  def initialize(data: nil)
+    @data = data.nil? ? 0 : data
+  end
+
+  def self.write(w, m)
+    w.int64(m.data)
+  end
+
+  def self.read(r)
+    m = new
+    m.data = r.int64
+    m
+  end
+end

data/data/msgs/std_msgs/msg/Int64MultiArray.rb

@@ -0,0 +1,35 @@
+# std_msgs/msg/Int64MultiArray (ROS 2 jazzy), generated by asterism_msggen.rb from
+# Int64MultiArray.msg of the package std_msgs.
+# License: Apache License 2.0, as the definition (package.xml of std_msgs).
+# Do not edit; regenerate instead.
+
+::Asterism::ROS.require_type("std_msgs/msg/MultiArrayLayout")
+
+module ::Asterism::ROS::StdMsgs
+end
+
+class ::Asterism::ROS::StdMsgs::Int64MultiArray < ::Asterism::ROS::Message
+  ROS_NAME = "std_msgs/msg/Int64MultiArray"
+  TYPE_NAME = "std_msgs::msg::dds_::Int64MultiArray_"
+  TYPE_HASH = "RIHS01_e60f9fe34d697f0939ad49d33158693c1277fbac0e2f04b7c2995dc21c89b422"
+  FIELDS = [:layout, :data]
+
+  attr_accessor :layout, :data
+
+  def initialize(layout: nil, data: nil)
+    @layout = ::Asterism::ROS::StdMsgs::MultiArrayLayout.from(layout)
+    @data = data.nil? ? [] : data
+  end
+
+  def self.write(w, m)
+    ::Asterism::ROS::StdMsgs::MultiArrayLayout.write(w, ::Asterism::ROS::StdMsgs::MultiArrayLayout.from(m.layout))
+    w.array(:int64, m.data, nil, nil)
+  end
+
+  def self.read(r)
+    m = new
+    m.layout = ::Asterism::ROS::StdMsgs::MultiArrayLayout.read(r)
+    m.data = r.array(:int64, nil)
+    m
+  end
+end

data/data/msgs/std_msgs/msg/Int8.rb

@@ -0,0 +1,30 @@
+# std_msgs/msg/Int8 (ROS 2 jazzy), generated by asterism_msggen.rb from
+# Int8.msg of the package std_msgs.
+# License: Apache License 2.0, as the definition (package.xml of std_msgs).
+# Do not edit; regenerate instead.
+
+module ::Asterism::ROS::StdMsgs
+end
+
+class ::Asterism::ROS::StdMsgs::Int8 < ::Asterism::ROS::Message
+  ROS_NAME = "std_msgs/msg/Int8"
+  TYPE_NAME = "std_msgs::msg::dds_::Int8_"
+  TYPE_HASH = "RIHS01_26525065a403d972cb672f0777e333f0c799ad444ae5fcd79e43d1e73bd0f440"
+  FIELDS = [:data]
+
+  attr_accessor :data
+
+  def initialize(data: nil)
+    @data = data.nil? ? 0 : data
+  end
+
+  def self.write(w, m)
+    w.int8(m.data)
+  end
+
+  def self.read(r)
+    m = new
+    m.data = r.int8
+    m
+  end
+end

data/data/msgs/std_msgs/msg/Int8MultiArray.rb

@@ -0,0 +1,35 @@
+# std_msgs/msg/Int8MultiArray (ROS 2 jazzy), generated by asterism_msggen.rb from
+# Int8MultiArray.msg of the package std_msgs.
+# License: Apache License 2.0, as the definition (package.xml of std_msgs).
+# Do not edit; regenerate instead.
+
+::Asterism::ROS.require_type("std_msgs/msg/MultiArrayLayout")
+
+module ::Asterism::ROS::StdMsgs
+end
+
+class ::Asterism::ROS::StdMsgs::Int8MultiArray < ::Asterism::ROS::Message
+  ROS_NAME = "std_msgs/msg/Int8MultiArray"
+  TYPE_NAME = "std_msgs::msg::dds_::Int8MultiArray_"
+  TYPE_HASH = "RIHS01_f21998d4b492abd63330765d75d5831238d400740386f651f13a872a4d2188db"
+  FIELDS = [:layout, :data]
+
+  attr_accessor :layout, :data
+
+  def initialize(layout: nil, data: nil)
+    @layout = ::Asterism::ROS::StdMsgs::MultiArrayLayout.from(layout)
+    @data = data.nil? ? [] : data
+  end
+
+  def self.write(w, m)
+    ::Asterism::ROS::StdMsgs::MultiArrayLayout.write(w, ::Asterism::ROS::StdMsgs::MultiArrayLayout.from(m.layout))
+    w.array(:int8, m.data, nil, nil)
+  end
+
+  def self.read(r)
+    m = new
+    m.layout = ::Asterism::ROS::StdMsgs::MultiArrayLayout.read(r)
+    m.data = r.array(:int8, nil)
+    m
+  end
+end

data/data/msgs/std_msgs/msg/MultiArrayDimension.rb

@@ -0,0 +1,36 @@
+# std_msgs/msg/MultiArrayDimension (ROS 2 jazzy), generated by asterism_msggen.rb from
+# MultiArrayDimension.msg of the package std_msgs.
+# License: Apache License 2.0, as the definition (package.xml of std_msgs).
+# Do not edit; regenerate instead.
+
+module ::Asterism::ROS::StdMsgs
+end
+
+class ::Asterism::ROS::StdMsgs::MultiArrayDimension < ::Asterism::ROS::Message
+  ROS_NAME = "std_msgs/msg/MultiArrayDimension"
+  TYPE_NAME = "std_msgs::msg::dds_::MultiArrayDimension_"
+  TYPE_HASH = "RIHS01_5e773a60a4c7fc8a54985f307c7837aa2994252a126c301957a24e31282c9cbe"
+  FIELDS = [:label, :size, :stride]
+
+  attr_accessor :label, :size, :stride
+
+  def initialize(label: nil, size: nil, stride: nil)
+    @label = label.nil? ? "" : label
+    @size = size.nil? ? 0 : size
+    @stride = stride.nil? ? 0 : stride
+  end
+
+  def self.write(w, m)
+    w.string(m.label)
+    w.uint32(m.size)
+    w.uint32(m.stride)
+  end
+
+  def self.read(r)
+    m = new
+    m.label = r.string
+    m.size = r.uint32
+    m.stride = r.uint32
+    m
+  end
+end

data/data/msgs/std_msgs/msg/MultiArrayLayout.rb

@@ -0,0 +1,35 @@
+# std_msgs/msg/MultiArrayLayout (ROS 2 jazzy), generated by asterism_msggen.rb from
+# MultiArrayLayout.msg of the package std_msgs.
+# License: Apache License 2.0, as the definition (package.xml of std_msgs).
+# Do not edit; regenerate instead.
+
+::Asterism::ROS.require_type("std_msgs/msg/MultiArrayDimension")
+
+module ::Asterism::ROS::StdMsgs
+end
+
+class ::Asterism::ROS::StdMsgs::MultiArrayLayout < ::Asterism::ROS::Message
+  ROS_NAME = "std_msgs/msg/MultiArrayLayout"
+  TYPE_NAME = "std_msgs::msg::dds_::MultiArrayLayout_"
+  TYPE_HASH = "RIHS01_4c66e6f78e740ac103a94cf63259f968e48c617e7699e829b63c21a5cb50dac6"
+  FIELDS = [:dim, :data_offset]
+
+  attr_accessor :dim, :data_offset
+
+  def initialize(dim: nil, data_offset: nil)
+    @dim = dim.nil? ? [] : dim.map { |e| ::Asterism::ROS::StdMsgs::MultiArrayDimension.from(e) }
+    @data_offset = data_offset.nil? ? 0 : data_offset
+  end
+
+  def self.write(w, m)
+    w.structs(::Asterism::ROS::StdMsgs::MultiArrayDimension, m.dim, nil, nil)
+    w.uint32(m.data_offset)
+  end
+
+  def self.read(r)
+    m = new
+    m.dim = r.structs(::Asterism::ROS::StdMsgs::MultiArrayDimension, nil)
+    m.data_offset = r.uint32
+    m
+  end
+end

data/data/msgs/std_msgs/msg/String.rb

@@ -0,0 +1,30 @@
+# std_msgs/msg/String (ROS 2 jazzy), generated by asterism_msggen.rb from
+# String.msg of the package std_msgs.
+# License: Apache License 2.0, as the definition (package.xml of std_msgs).
+# Do not edit; regenerate instead.
+
+module ::Asterism::ROS::StdMsgs
+end
+
+class ::Asterism::ROS::StdMsgs::String < ::Asterism::ROS::Message
+  ROS_NAME = "std_msgs/msg/String"
+  TYPE_NAME = "std_msgs::msg::dds_::String_"
+  TYPE_HASH = "RIHS01_df668c740482bbd48fb39d76a70dfd4bd59db1288021743503259e948f6b1a18"
+  FIELDS = [:data]
+
+  attr_accessor :data
+
+  def initialize(data: nil)
+    @data = data.nil? ? "" : data
+  end
+
+  def self.write(w, m)
+    w.string(m.data)
+  end
+
+  def self.read(r)
+    m = new
+    m.data = r.string
+    m
+  end
+end

data/data/msgs/std_msgs/msg/UInt16.rb

@@ -0,0 +1,30 @@
+# std_msgs/msg/UInt16 (ROS 2 jazzy), generated by asterism_msggen.rb from
+# UInt16.msg of the package std_msgs.
+# License: Apache License 2.0, as the definition (package.xml of std_msgs).
+# Do not edit; regenerate instead.
+
+module ::Asterism::ROS::StdMsgs
+end
+
+class ::Asterism::ROS::StdMsgs::UInt16 < ::Asterism::ROS::Message
+  ROS_NAME = "std_msgs/msg/UInt16"
+  TYPE_NAME = "std_msgs::msg::dds_::UInt16_"
+  TYPE_HASH = "RIHS01_08a406e4b022bc22e907f985d6a9e9dd1d4fbecae573549cf49350113e7757b1"
+  FIELDS = [:data]
+
+  attr_accessor :data
+
+  def initialize(data: nil)
+    @data = data.nil? ? 0 : data
+  end
+
+  def self.write(w, m)
+    w.uint16(m.data)
+  end
+
+  def self.read(r)
+    m = new
+    m.data = r.uint16
+    m
+  end
+end

data/data/msgs/std_msgs/msg/UInt16MultiArray.rb

@@ -0,0 +1,35 @@
+# std_msgs/msg/UInt16MultiArray (ROS 2 jazzy), generated by asterism_msggen.rb from
+# UInt16MultiArray.msg of the package std_msgs.
+# License: Apache License 2.0, as the definition (package.xml of std_msgs).
+# Do not edit; regenerate instead.
+
+::Asterism::ROS.require_type("std_msgs/msg/MultiArrayLayout")
+
+module ::Asterism::ROS::StdMsgs
+end
+
+class ::Asterism::ROS::StdMsgs::UInt16MultiArray < ::Asterism::ROS::Message
+  ROS_NAME = "std_msgs/msg/UInt16MultiArray"
+  TYPE_NAME = "std_msgs::msg::dds_::UInt16MultiArray_"
+  TYPE_HASH = "RIHS01_94fe73428ec63baecc774f8fb82406123e9291cf728f1b7c91caf5335129492b"
+  FIELDS = [:layout, :data]
+
+  attr_accessor :layout, :data
+
+  def initialize(layout: nil, data: nil)
+    @layout = ::Asterism::ROS::StdMsgs::MultiArrayLayout.from(layout)
+    @data = data.nil? ? [] : data
+  end
+
+  def self.write(w, m)
+    ::Asterism::ROS::StdMsgs::MultiArrayLayout.write(w, ::Asterism::ROS::StdMsgs::MultiArrayLayout.from(m.layout))
+    w.array(:uint16, m.data, nil, nil)
+  end
+
+  def self.read(r)
+    m = new
+    m.layout = ::Asterism::ROS::StdMsgs::MultiArrayLayout.read(r)
+    m.data = r.array(:uint16, nil)
+    m
+  end
+end

data/data/msgs/std_msgs/msg/UInt32.rb

@@ -0,0 +1,30 @@
+# std_msgs/msg/UInt32 (ROS 2 jazzy), generated by asterism_msggen.rb from
+# UInt32.msg of the package std_msgs.
+# License: Apache License 2.0, as the definition (package.xml of std_msgs).
+# Do not edit; regenerate instead.
+
+module ::Asterism::ROS::StdMsgs
+end
+
+class ::Asterism::ROS::StdMsgs::UInt32 < ::Asterism::ROS::Message
+  ROS_NAME = "std_msgs/msg/UInt32"
+  TYPE_NAME = "std_msgs::msg::dds_::UInt32_"
+  TYPE_HASH = "RIHS01_a5c874829b752bc5fa190024b0ad76f578cc278271e855c7d02a818b3516fb4a"
+  FIELDS = [:data]
+
+  attr_accessor :data
+
+  def initialize(data: nil)
+    @data = data.nil? ? 0 : data
+  end
+
+  def self.write(w, m)
+    w.uint32(m.data)
+  end
+
+  def self.read(r)
+    m = new
+    m.data = r.uint32
+    m
+  end
+end

data/data/msgs/std_msgs/msg/UInt32MultiArray.rb

@@ -0,0 +1,35 @@
+# std_msgs/msg/UInt32MultiArray (ROS 2 jazzy), generated by asterism_msggen.rb from
+# UInt32MultiArray.msg of the package std_msgs.
+# License: Apache License 2.0, as the definition (package.xml of std_msgs).
+# Do not edit; regenerate instead.
+
+::Asterism::ROS.require_type("std_msgs/msg/MultiArrayLayout")
+
+module ::Asterism::ROS::StdMsgs
+end
+
+class ::Asterism::ROS::StdMsgs::UInt32MultiArray < ::Asterism::ROS::Message
+  ROS_NAME = "std_msgs/msg/UInt32MultiArray"
+  TYPE_NAME = "std_msgs::msg::dds_::UInt32MultiArray_"
+  TYPE_HASH = "RIHS01_6c2577c7ad3cbdcc2164a41c12f1d5ad314ea320f3fb1ee47e78019fe16bb5b0"
+  FIELDS = [:layout, :data]
+
+  attr_accessor :layout, :data
+
+  def initialize(layout: nil, data: nil)
+    @layout = ::Asterism::ROS::StdMsgs::MultiArrayLayout.from(layout)
+    @data = data.nil? ? [] : data
+  end
+
+  def self.write(w, m)
+    ::Asterism::ROS::StdMsgs::MultiArrayLayout.write(w, ::Asterism::ROS::StdMsgs::MultiArrayLayout.from(m.layout))
+    w.array(:uint32, m.data, nil, nil)
+  end
+
+  def self.read(r)
+    m = new
+    m.layout = ::Asterism::ROS::StdMsgs::MultiArrayLayout.read(r)
+    m.data = r.array(:uint32, nil)
+    m
+  end
+end

data/data/msgs/std_msgs/msg/UInt64.rb

@@ -0,0 +1,30 @@
+# std_msgs/msg/UInt64 (ROS 2 jazzy), generated by asterism_msggen.rb from
+# UInt64.msg of the package std_msgs.
+# License: Apache License 2.0, as the definition (package.xml of std_msgs).
+# Do not edit; regenerate instead.
+
+module ::Asterism::ROS::StdMsgs
+end
+
+class ::Asterism::ROS::StdMsgs::UInt64 < ::Asterism::ROS::Message
+  ROS_NAME = "std_msgs/msg/UInt64"
+  TYPE_NAME = "std_msgs::msg::dds_::UInt64_"
+  TYPE_HASH = "RIHS01_fbdc52018fc13755dce18024d1a671c856aa8b4aaf63adfb095b608f98e8c943"
+  FIELDS = [:data]
+
+  attr_accessor :data
+
+  def initialize(data: nil)
+    @data = data.nil? ? 0 : data
+  end
+
+  def self.write(w, m)
+    w.uint64(m.data)
+  end
+
+  def self.read(r)
+    m = new
+    m.data = r.uint64
+    m
+  end
+end

data/data/msgs/std_msgs/msg/UInt64MultiArray.rb

@@ -0,0 +1,35 @@
+# std_msgs/msg/UInt64MultiArray (ROS 2 jazzy), generated by asterism_msggen.rb from
+# UInt64MultiArray.msg of the package std_msgs.
+# License: Apache License 2.0, as the definition (package.xml of std_msgs).
+# Do not edit; regenerate instead.
+
+::Asterism::ROS.require_type("std_msgs/msg/MultiArrayLayout")
+
+module ::Asterism::ROS::StdMsgs
+end
+
+class ::Asterism::ROS::StdMsgs::UInt64MultiArray < ::Asterism::ROS::Message
+  ROS_NAME = "std_msgs/msg/UInt64MultiArray"
+  TYPE_NAME = "std_msgs::msg::dds_::UInt64MultiArray_"
+  TYPE_HASH = "RIHS01_fc1c685c2f76bdc6983da025cb25d2db5fb5157b059e300f6d957d86f981b366"
+  FIELDS = [:layout, :data]
+
+  attr_accessor :layout, :data
+
+  def initialize(layout: nil, data: nil)
+    @layout = ::Asterism::ROS::StdMsgs::MultiArrayLayout.from(layout)
+    @data = data.nil? ? [] : data
+  end
+
+  def self.write(w, m)
+    ::Asterism::ROS::StdMsgs::MultiArrayLayout.write(w, ::Asterism::ROS::StdMsgs::MultiArrayLayout.from(m.layout))
+    w.array(:uint64, m.data, nil, nil)
+  end
+
+  def self.read(r)
+    m = new
+    m.layout = ::Asterism::ROS::StdMsgs::MultiArrayLayout.read(r)
+    m.data = r.array(:uint64, nil)
+    m
+  end
+end

data/data/msgs/std_msgs/msg/UInt8.rb

@@ -0,0 +1,30 @@
+# std_msgs/msg/UInt8 (ROS 2 jazzy), generated by asterism_msggen.rb from
+# UInt8.msg of the package std_msgs.
+# License: Apache License 2.0, as the definition (package.xml of std_msgs).
+# Do not edit; regenerate instead.
+
+module ::Asterism::ROS::StdMsgs
+end
+
+class ::Asterism::ROS::StdMsgs::UInt8 < ::Asterism::ROS::Message
+  ROS_NAME = "std_msgs/msg/UInt8"
+  TYPE_NAME = "std_msgs::msg::dds_::UInt8_"
+  TYPE_HASH = "RIHS01_6138bd83d8c3569cb80a667db03cfc1629f529fee79d944c39c34e352e72f010"
+  FIELDS = [:data]
+
+  attr_accessor :data
+
+  def initialize(data: nil)
+    @data = data.nil? ? 0 : data
+  end
+
+  def self.write(w, m)
+    w.uint8(m.data)
+  end
+
+  def self.read(r)
+    m = new
+    m.data = r.uint8
+    m
+  end
+end

data/data/msgs/std_msgs/msg/UInt8MultiArray.rb

@@ -0,0 +1,35 @@
+# std_msgs/msg/UInt8MultiArray (ROS 2 jazzy), generated by asterism_msggen.rb from
+# UInt8MultiArray.msg of the package std_msgs.
+# License: Apache License 2.0, as the definition (package.xml of std_msgs).
+# Do not edit; regenerate instead.
+
+::Asterism::ROS.require_type("std_msgs/msg/MultiArrayLayout")
+
+module ::Asterism::ROS::StdMsgs
+end
+
+class ::Asterism::ROS::StdMsgs::UInt8MultiArray < ::Asterism::ROS::Message
+  ROS_NAME = "std_msgs/msg/UInt8MultiArray"
+  TYPE_NAME = "std_msgs::msg::dds_::UInt8MultiArray_"
+  TYPE_HASH = "RIHS01_5687e861b8d307a5e48b7515467ae7a5fc2daf805bd0ce6d8e9e604bade9f385"
+  FIELDS = [:layout, :data]
+
+  attr_accessor :layout, :data
+
+  def initialize(layout: nil, data: nil)
+    @layout = ::Asterism::ROS::StdMsgs::MultiArrayLayout.from(layout)
+    @data = data.nil? ? "" : data
+  end
+
+  def self.write(w, m)
+    ::Asterism::ROS::StdMsgs::MultiArrayLayout.write(w, ::Asterism::ROS::StdMsgs::MultiArrayLayout.from(m.layout))
+    w.bytes(m.data, nil, nil)
+  end
+
+  def self.read(r)
+    m = new
+    m.layout = ::Asterism::ROS::StdMsgs::MultiArrayLayout.read(r)
+    m.data = r.bytes(nil)
+    m
+  end
+end

data/lib/asterism/cruby.rb

@@ -0,0 +1,24 @@
+# What CRuby needs on top of the pure Ruby layers in mrblib/ (shared with the
+# mruby / PicoRuby boards). Kept small: anything that is also right on mruby
+# belongs in mrblib/ instead.
+module Asterism
+  # The message and service types bundled with the gem (the same files the
+  # boards keep in /usr/share/asterism/msgs). The application may add its
+  # own directories (tools/asterism_msggen.rb -o <dir>).
+  MSGS_DIR = File.expand_path("../../data/msgs", __dir__)
+  ROS::TYPE_PATH.replace([MSGS_DIR])
+
+  module Codec
+    # CRuby's msgpack packs binary (ASCII-8BIT) Strings, such as payloads
+    # that came from Zenoh, as the bin type. The mruby MessagePack of the
+    # boards reads only the str type, so every String goes as str
+    # (compatibility mode), which is what the boards send too.
+    def self.pack(v)
+      ::MessagePack.pack(check(v), compatibility_mode: true)
+    end
+  end
+
+  def self.error_reply(klass, message)
+    ::MessagePack.pack(["error", klass.to_s, message.to_s], compatibility_mode: true)
+  end
+end

data/lib/asterism/version.rb

@@ -0,0 +1,5 @@
+module Asterism
+  # The gem's version (the CRuby gem asterism; it depends on asterism-zenoh
+  # of the same version).
+  VERSION = "0.1.0"
+end

data/lib/asterism.rb

@@ -1,5 +1,18 @@
-# Asterism: treat many Rubies (CRuby, mruby, microcontrollers, the web)
-# as one network of objects, on top of Zenoh. Not implemented yet.
-module Asterism
-  VERSION = "0.0.0"
+# Asterism for CRuby: Ruby objects on other machines called like local ones
+# (Asterism.connect / expose / [] / poll), and a ROS 2 node over rmw_zenoh's
+# wire format (Asterism::ROS, Asterism::CDR, generated message types).
+#
+# The Ruby code is the one the mruby / PicoRuby boards run: mrblib/ of this
+# repository, which is also the mrbgem (mrbgem.rake). Nothing is copied:
+# this file loads mrblib/ as it is, and lib/asterism/cruby.rb adds what
+# CRuby needs. The Zenoh binding is the asterism-zenoh gem (Asterism::Zenoh,
+# over zenoh-c), with the same API as the boards' zenoh-pico binding.
+require "msgpack"
+require "asterism/zenoh"
+require_relative "asterism/version"
+
+# The same order as an mrbgem's mrblib (alphabetical).
+%w[asterism cdr future proxy ros].each do |f|
+  require_relative "../mrblib/#{f}"
 end
+require_relative "asterism/cruby"