asterism 0.4.0 → 0.5.0

data/data/msgs/rcl_interfaces/msg/ParameterEvent.rb

@@ -0,0 +1,52 @@
+# rcl_interfaces/msg/ParameterEvent (ROS 2 jazzy), generated by asterism_msggen.rb from
+# ParameterEvent.msg of the package rcl_interfaces.
+# License: Apache License 2.0, as the definition (package.xml of rcl_interfaces).
+# Do not edit; regenerate instead.
+
+::Asterism::ROS.require_type("builtin_interfaces/msg/Time")
+::Asterism::ROS.require_type("rcl_interfaces/msg/Parameter")
+
+module ::Asterism::ROS::RclInterfaces
+end
+
+class ::Asterism::ROS::RclInterfaces::ParameterEvent < ::Asterism::ROS::Message
+  ROS_NAME = "rcl_interfaces/msg/ParameterEvent"
+  TYPE_NAME = "rcl_interfaces::msg::dds_::ParameterEvent_"
+  TYPE_HASH = "RIHS01_043e627780fcad87a22d225bc2a037361dba713fca6a6b9f4b869a5aa0393204"
+  FIELDS = [:stamp, :node, :new_parameters, :changed_parameters, :deleted_parameters]
+  FIELD_TYPES = [
+    ["stamp", "builtin_interfaces/msg/Time", "scalar", "builtin_interfaces/msg/Time", nil, nil],
+    ["node", "string", "scalar", nil, nil, nil],
+    ["new_parameters", "rcl_interfaces/msg/Parameter", "sequence", "rcl_interfaces/msg/Parameter", nil, nil],
+    ["changed_parameters", "rcl_interfaces/msg/Parameter", "sequence", "rcl_interfaces/msg/Parameter", nil, nil],
+    ["deleted_parameters", "rcl_interfaces/msg/Parameter", "sequence", "rcl_interfaces/msg/Parameter", nil, nil]
+  ]
+
+  attr_accessor :stamp, :node, :new_parameters, :changed_parameters, :deleted_parameters
+
+  def initialize(stamp: nil, node: nil, new_parameters: nil, changed_parameters: nil, deleted_parameters: nil)
+    @stamp = ::Asterism::ROS::BuiltinInterfaces::Time.from(stamp)
+    @node = node.nil? ? "" : node
+    @new_parameters = new_parameters.nil? ? [] : new_parameters.map { |e| ::Asterism::ROS::RclInterfaces::Parameter.from(e) }
+    @changed_parameters = changed_parameters.nil? ? [] : changed_parameters.map { |e| ::Asterism::ROS::RclInterfaces::Parameter.from(e) }
+    @deleted_parameters = deleted_parameters.nil? ? [] : deleted_parameters.map { |e| ::Asterism::ROS::RclInterfaces::Parameter.from(e) }
+  end
+
+  def self.write(w, m)
+    ::Asterism::ROS::BuiltinInterfaces::Time.write(w, ::Asterism::ROS::BuiltinInterfaces::Time.from(m.stamp))
+    w.string(m.node)
+    w.structs(::Asterism::ROS::RclInterfaces::Parameter, m.new_parameters, nil, nil)
+    w.structs(::Asterism::ROS::RclInterfaces::Parameter, m.changed_parameters, nil, nil)
+    w.structs(::Asterism::ROS::RclInterfaces::Parameter, m.deleted_parameters, nil, nil)
+  end
+
+  def self.read(r)
+    m = new
+    m.stamp = ::Asterism::ROS::BuiltinInterfaces::Time.read(r)
+    m.node = r.string
+    m.new_parameters = r.structs(::Asterism::ROS::RclInterfaces::Parameter, nil)
+    m.changed_parameters = r.structs(::Asterism::ROS::RclInterfaces::Parameter, nil)
+    m.deleted_parameters = r.structs(::Asterism::ROS::RclInterfaces::Parameter, nil)
+    m
+  end
+end

data/data/msgs/rcl_interfaces/msg/ParameterValue.rb

@@ -0,0 +1,69 @@
+# rcl_interfaces/msg/ParameterValue (ROS 2 jazzy), generated by asterism_msggen.rb from
+# ParameterValue.msg of the package rcl_interfaces.
+# License: Apache License 2.0, as the definition (package.xml of rcl_interfaces).
+# Do not edit; regenerate instead.
+
+module ::Asterism::ROS::RclInterfaces
+end
+
+class ::Asterism::ROS::RclInterfaces::ParameterValue < ::Asterism::ROS::Message
+  ROS_NAME = "rcl_interfaces/msg/ParameterValue"
+  TYPE_NAME = "rcl_interfaces::msg::dds_::ParameterValue_"
+  TYPE_HASH = "RIHS01_115fc089a387e23c7ecd3525c9189c379109119d6ab82e8dfbde0fdf6a7f9b68"
+  FIELDS = [:type, :bool_value, :integer_value, :double_value, :string_value, :byte_array_value, :bool_array_value, :integer_array_value, :double_array_value, :string_array_value]
+  FIELD_TYPES = [
+    ["type", "uint8", "scalar", nil, nil, nil],
+    ["bool_value", "bool", "scalar", nil, nil, nil],
+    ["integer_value", "int64", "scalar", nil, nil, nil],
+    ["double_value", "float64", "scalar", nil, nil, nil],
+    ["string_value", "string", "scalar", nil, nil, nil],
+    ["byte_array_value", "byte", "sequence", nil, nil, nil],
+    ["bool_array_value", "bool", "sequence", nil, nil, nil],
+    ["integer_array_value", "int64", "sequence", nil, nil, nil],
+    ["double_array_value", "float64", "sequence", nil, nil, nil],
+    ["string_array_value", "string", "sequence", nil, nil, nil]
+  ]
+
+  attr_accessor :type, :bool_value, :integer_value, :double_value, :string_value, :byte_array_value, :bool_array_value, :integer_array_value, :double_array_value, :string_array_value
+
+  def initialize(type: nil, bool_value: nil, integer_value: nil, double_value: nil, string_value: nil, byte_array_value: nil, bool_array_value: nil, integer_array_value: nil, double_array_value: nil, string_array_value: nil)
+    @type = type.nil? ? 0 : type
+    @bool_value = bool_value.nil? ? false : bool_value
+    @integer_value = integer_value.nil? ? 0 : integer_value
+    @double_value = double_value.nil? ? 0.0 : double_value
+    @string_value = string_value.nil? ? "" : string_value
+    @byte_array_value = byte_array_value.nil? ? "" : byte_array_value
+    @bool_array_value = bool_array_value.nil? ? [] : bool_array_value
+    @integer_array_value = integer_array_value.nil? ? [] : integer_array_value
+    @double_array_value = double_array_value.nil? ? [] : double_array_value
+    @string_array_value = string_array_value.nil? ? [] : string_array_value
+  end
+
+  def self.write(w, m)
+    w.uint8(m.type)
+    w.bool(m.bool_value)
+    w.int64(m.integer_value)
+    w.float64(m.double_value)
+    w.string(m.string_value)
+    w.bytes(m.byte_array_value, nil, nil)
+    w.array(:bool, m.bool_array_value, nil, nil)
+    w.array(:int64, m.integer_array_value, nil, nil)
+    w.array(:float64, m.double_array_value, nil, nil)
+    w.array(:string, m.string_array_value, nil, nil, nil)
+  end
+
+  def self.read(r)
+    m = new
+    m.type = r.uint8
+    m.bool_value = r.bool
+    m.integer_value = r.int64
+    m.double_value = r.float64
+    m.string_value = r.string
+    m.byte_array_value = r.bytes(nil)
+    m.bool_array_value = r.array(:bool, nil)
+    m.integer_array_value = r.array(:int64, nil)
+    m.double_array_value = r.array(:float64, nil)
+    m.string_array_value = r.array(:string, nil)
+    m
+  end
+end

data/data/msgs/sensor_msgs/msg/BatteryState.rb

@@ -13,6 +13,24 @@ class ::Asterism::ROS::SensorMsgs::BatteryState < ::Asterism::ROS::Message
   TYPE_NAME = "sensor_msgs::msg::dds_::BatteryState_"
   TYPE_HASH = "RIHS01_4bee5dfce981c98faa6828b868307a0a73f992ed0789f374ee96c8f840e69741"
   FIELDS = [:header, :voltage, :temperature, :current, :charge, :capacity, :design_capacity, :percentage, :power_supply_status, :power_supply_health, :power_supply_technology, :present, :cell_voltage, :cell_temperature, :location, :serial_number]
+  FIELD_TYPES = [
+    ["header", "std_msgs/msg/Header", "scalar", "std_msgs/msg/Header", nil, nil],
+    ["voltage", "float32", "scalar", nil, nil, nil],
+    ["temperature", "float32", "scalar", nil, nil, nil],
+    ["current", "float32", "scalar", nil, nil, nil],
+    ["charge", "float32", "scalar", nil, nil, nil],
+    ["capacity", "float32", "scalar", nil, nil, nil],
+    ["design_capacity", "float32", "scalar", nil, nil, nil],
+    ["percentage", "float32", "scalar", nil, nil, nil],
+    ["power_supply_status", "uint8", "scalar", nil, nil, nil],
+    ["power_supply_health", "uint8", "scalar", nil, nil, nil],
+    ["power_supply_technology", "uint8", "scalar", nil, nil, nil],
+    ["present", "bool", "scalar", nil, nil, nil],
+    ["cell_voltage", "float32", "sequence", nil, nil, nil],
+    ["cell_temperature", "float32", "sequence", nil, nil, nil],
+    ["location", "string", "scalar", nil, nil, nil],
+    ["serial_number", "string", "scalar", nil, nil, nil]
+  ]
   POWER_SUPPLY_STATUS_UNKNOWN = 0
   POWER_SUPPLY_STATUS_CHARGING = 1
   POWER_SUPPLY_STATUS_DISCHARGING = 2

data/data/msgs/sensor_msgs/msg/CompressedImage.rb

@@ -0,0 +1,43 @@
+# sensor_msgs/msg/CompressedImage (ROS 2 jazzy), generated by asterism_msggen.rb from
+# CompressedImage.msg of the package sensor_msgs.
+# License: Apache License 2.0, as the definition (package.xml of sensor_msgs).
+# Do not edit; regenerate instead.
+
+::Asterism::ROS.require_type("std_msgs/msg/Header")
+
+module ::Asterism::ROS::SensorMsgs
+end
+
+class ::Asterism::ROS::SensorMsgs::CompressedImage < ::Asterism::ROS::Message
+  ROS_NAME = "sensor_msgs/msg/CompressedImage"
+  TYPE_NAME = "sensor_msgs::msg::dds_::CompressedImage_"
+  TYPE_HASH = "RIHS01_15640771531571185e2efc8a100baf923961a4d15d5569652e6cb6691e8e371a"
+  FIELDS = [:header, :format, :data]
+  FIELD_TYPES = [
+    ["header", "std_msgs/msg/Header", "scalar", "std_msgs/msg/Header", nil, nil],
+    ["format", "string", "scalar", nil, nil, nil],
+    ["data", "uint8", "sequence", nil, nil, nil]
+  ]
+
+  attr_accessor :header, :format, :data
+
+  def initialize(header: nil, format: nil, data: nil)
+    @header = ::Asterism::ROS::StdMsgs::Header.from(header)
+    @format = format.nil? ? "" : format
+    @data = data.nil? ? "" : data
+  end
+
+  def self.write(w, m)
+    ::Asterism::ROS::StdMsgs::Header.write(w, ::Asterism::ROS::StdMsgs::Header.from(m.header))
+    w.string(m.format)
+    w.bytes(m.data, nil, nil)
+  end
+
+  def self.read(r)
+    m = new
+    m.header = ::Asterism::ROS::StdMsgs::Header.read(r)
+    m.format = r.string
+    m.data = r.bytes(nil)
+    m
+  end
+end

data/data/msgs/sensor_msgs/msg/FluidPressure.rb

@@ -13,6 +13,11 @@ class ::Asterism::ROS::SensorMsgs::FluidPressure < ::Asterism::ROS::Message
   TYPE_NAME = "sensor_msgs::msg::dds_::FluidPressure_"
   TYPE_HASH = "RIHS01_22dfb2b145a0bd5a31a1ac3882a1b32148b51d9b2f3bab250290d66f3595bc32"
   FIELDS = [:header, :fluid_pressure, :variance]
+  FIELD_TYPES = [
+    ["header", "std_msgs/msg/Header", "scalar", "std_msgs/msg/Header", nil, nil],
+    ["fluid_pressure", "float64", "scalar", nil, nil, nil],
+    ["variance", "float64", "scalar", nil, nil, nil]
+  ]
 
   attr_accessor :header, :fluid_pressure, :variance
 

data/data/msgs/sensor_msgs/msg/Illuminance.rb

@@ -13,6 +13,11 @@ class ::Asterism::ROS::SensorMsgs::Illuminance < ::Asterism::ROS::Message
   TYPE_NAME = "sensor_msgs::msg::dds_::Illuminance_"
   TYPE_HASH = "RIHS01_b954b25f452fcf81a91c9c2a7e3b3fd85c4c873d452aecb3cfd8fd1da732a22d"
   FIELDS = [:header, :illuminance, :variance]
+  FIELD_TYPES = [
+    ["header", "std_msgs/msg/Header", "scalar", "std_msgs/msg/Header", nil, nil],
+    ["illuminance", "float64", "scalar", nil, nil, nil],
+    ["variance", "float64", "scalar", nil, nil, nil]
+  ]
 
   attr_accessor :header, :illuminance, :variance
 

data/data/msgs/sensor_msgs/msg/Imu.rb

@@ -15,6 +15,15 @@ class ::Asterism::ROS::SensorMsgs::Imu < ::Asterism::ROS::Message
   TYPE_NAME = "sensor_msgs::msg::dds_::Imu_"
   TYPE_HASH = "RIHS01_7d9a00ff131080897a5ec7e26e315954b8eae3353c3f995c55faf71574000b5b"
   FIELDS = [:header, :orientation, :orientation_covariance, :angular_velocity, :angular_velocity_covariance, :linear_acceleration, :linear_acceleration_covariance]
+  FIELD_TYPES = [
+    ["header", "std_msgs/msg/Header", "scalar", "std_msgs/msg/Header", nil, nil],
+    ["orientation", "geometry_msgs/msg/Quaternion", "scalar", "geometry_msgs/msg/Quaternion", nil, nil],
+    ["orientation_covariance", "float64", "array", nil, 9, nil],
+    ["angular_velocity", "geometry_msgs/msg/Vector3", "scalar", "geometry_msgs/msg/Vector3", nil, nil],
+    ["angular_velocity_covariance", "float64", "array", nil, 9, nil],
+    ["linear_acceleration", "geometry_msgs/msg/Vector3", "scalar", "geometry_msgs/msg/Vector3", nil, nil],
+    ["linear_acceleration_covariance", "float64", "array", nil, 9, nil]
+  ]
 
   attr_accessor :header, :orientation, :orientation_covariance, :angular_velocity, :angular_velocity_covariance, :linear_acceleration, :linear_acceleration_covariance
 

data/data/msgs/sensor_msgs/msg/JointState.rb

@@ -13,6 +13,13 @@ class ::Asterism::ROS::SensorMsgs::JointState < ::Asterism::ROS::Message
   TYPE_NAME = "sensor_msgs::msg::dds_::JointState_"
   TYPE_HASH = "RIHS01_a13ee3a330e346c9d87b5aa18d24e11690752bd33a0350f11c5882bc9179260e"
   FIELDS = [:header, :name, :position, :velocity, :effort]
+  FIELD_TYPES = [
+    ["header", "std_msgs/msg/Header", "scalar", "std_msgs/msg/Header", nil, nil],
+    ["name", "string", "sequence", nil, nil, nil],
+    ["position", "float64", "sequence", nil, nil, nil],
+    ["velocity", "float64", "sequence", nil, nil, nil],
+    ["effort", "float64", "sequence", nil, nil, nil]
+  ]
 
   attr_accessor :header, :name, :position, :velocity, :effort
 

data/data/msgs/sensor_msgs/msg/LaserScan.rb

@@ -0,0 +1,71 @@
+# sensor_msgs/msg/LaserScan (ROS 2 jazzy), generated by asterism_msggen.rb from
+# LaserScan.msg of the package sensor_msgs.
+# License: Apache License 2.0, as the definition (package.xml of sensor_msgs).
+# Do not edit; regenerate instead.
+
+::Asterism::ROS.require_type("std_msgs/msg/Header")
+
+module ::Asterism::ROS::SensorMsgs
+end
+
+class ::Asterism::ROS::SensorMsgs::LaserScan < ::Asterism::ROS::Message
+  ROS_NAME = "sensor_msgs/msg/LaserScan"
+  TYPE_NAME = "sensor_msgs::msg::dds_::LaserScan_"
+  TYPE_HASH = "RIHS01_64c191398013af96509d518dac71d5164f9382553fce5c1f8cca5be7924bd828"
+  FIELDS = [:header, :angle_min, :angle_max, :angle_increment, :time_increment, :scan_time, :range_min, :range_max, :ranges, :intensities]
+  FIELD_TYPES = [
+    ["header", "std_msgs/msg/Header", "scalar", "std_msgs/msg/Header", nil, nil],
+    ["angle_min", "float32", "scalar", nil, nil, nil],
+    ["angle_max", "float32", "scalar", nil, nil, nil],
+    ["angle_increment", "float32", "scalar", nil, nil, nil],
+    ["time_increment", "float32", "scalar", nil, nil, nil],
+    ["scan_time", "float32", "scalar", nil, nil, nil],
+    ["range_min", "float32", "scalar", nil, nil, nil],
+    ["range_max", "float32", "scalar", nil, nil, nil],
+    ["ranges", "float32", "sequence", nil, nil, nil],
+    ["intensities", "float32", "sequence", nil, nil, nil]
+  ]
+
+  attr_accessor :header, :angle_min, :angle_max, :angle_increment, :time_increment, :scan_time, :range_min, :range_max, :ranges, :intensities
+
+  def initialize(header: nil, angle_min: nil, angle_max: nil, angle_increment: nil, time_increment: nil, scan_time: nil, range_min: nil, range_max: nil, ranges: nil, intensities: nil)
+    @header = ::Asterism::ROS::StdMsgs::Header.from(header)
+    @angle_min = angle_min.nil? ? 0.0 : angle_min
+    @angle_max = angle_max.nil? ? 0.0 : angle_max
+    @angle_increment = angle_increment.nil? ? 0.0 : angle_increment
+    @time_increment = time_increment.nil? ? 0.0 : time_increment
+    @scan_time = scan_time.nil? ? 0.0 : scan_time
+    @range_min = range_min.nil? ? 0.0 : range_min
+    @range_max = range_max.nil? ? 0.0 : range_max
+    @ranges = ranges.nil? ? [] : ranges
+    @intensities = intensities.nil? ? [] : intensities
+  end
+
+  def self.write(w, m)
+    ::Asterism::ROS::StdMsgs::Header.write(w, ::Asterism::ROS::StdMsgs::Header.from(m.header))
+    w.float32(m.angle_min)
+    w.float32(m.angle_max)
+    w.float32(m.angle_increment)
+    w.float32(m.time_increment)
+    w.float32(m.scan_time)
+    w.float32(m.range_min)
+    w.float32(m.range_max)
+    w.array(:float32, m.ranges, nil, nil)
+    w.array(:float32, m.intensities, nil, nil)
+  end
+
+  def self.read(r)
+    m = new
+    m.header = ::Asterism::ROS::StdMsgs::Header.read(r)
+    m.angle_min = r.float32
+    m.angle_max = r.float32
+    m.angle_increment = r.float32
+    m.time_increment = r.float32
+    m.scan_time = r.float32
+    m.range_min = r.float32
+    m.range_max = r.float32
+    m.ranges = r.array(:float32, nil)
+    m.intensities = r.array(:float32, nil)
+    m
+  end
+end

data/data/msgs/sensor_msgs/msg/MagneticField.rb

@@ -14,6 +14,11 @@ class ::Asterism::ROS::SensorMsgs::MagneticField < ::Asterism::ROS::Message
   TYPE_NAME = "sensor_msgs::msg::dds_::MagneticField_"
   TYPE_HASH = "RIHS01_e80f32f56a20486c9923008fc1a1db07bbb273cbbf6a5b3bfa00835ee00e4dff"
   FIELDS = [:header, :magnetic_field, :magnetic_field_covariance]
+  FIELD_TYPES = [
+    ["header", "std_msgs/msg/Header", "scalar", "std_msgs/msg/Header", nil, nil],
+    ["magnetic_field", "geometry_msgs/msg/Vector3", "scalar", "geometry_msgs/msg/Vector3", nil, nil],
+    ["magnetic_field_covariance", "float64", "array", nil, 9, nil]
+  ]
 
   attr_accessor :header, :magnetic_field, :magnetic_field_covariance
 

data/data/msgs/sensor_msgs/msg/NavSatFix.rb

@@ -14,6 +14,15 @@ class ::Asterism::ROS::SensorMsgs::NavSatFix < ::Asterism::ROS::Message
   TYPE_NAME = "sensor_msgs::msg::dds_::NavSatFix_"
   TYPE_HASH = "RIHS01_62223ab3fe210a15976021da7afddc9e200dc9ec75231c1b6a557fc598a65404"
   FIELDS = [:header, :status, :latitude, :longitude, :altitude, :position_covariance, :position_covariance_type]
+  FIELD_TYPES = [
+    ["header", "std_msgs/msg/Header", "scalar", "std_msgs/msg/Header", nil, nil],
+    ["status", "sensor_msgs/msg/NavSatStatus", "scalar", "sensor_msgs/msg/NavSatStatus", nil, nil],
+    ["latitude", "float64", "scalar", nil, nil, nil],
+    ["longitude", "float64", "scalar", nil, nil, nil],
+    ["altitude", "float64", "scalar", nil, nil, nil],
+    ["position_covariance", "float64", "array", nil, 9, nil],
+    ["position_covariance_type", "uint8", "scalar", nil, nil, nil]
+  ]
   COVARIANCE_TYPE_UNKNOWN = 0
   COVARIANCE_TYPE_APPROXIMATED = 1
   COVARIANCE_TYPE_DIAGONAL_KNOWN = 2

data/data/msgs/sensor_msgs/msg/NavSatStatus.rb

@@ -11,6 +11,10 @@ class ::Asterism::ROS::SensorMsgs::NavSatStatus < ::Asterism::ROS::Message
   TYPE_NAME = "sensor_msgs::msg::dds_::NavSatStatus_"
   TYPE_HASH = "RIHS01_d1ed3befa628e09571bd273b888ba1c1fd187c9a5e0006b385d7e5e9095a3204"
   FIELDS = [:status, :service]
+  FIELD_TYPES = [
+    ["status", "int8", "scalar", nil, nil, nil],
+    ["service", "uint16", "scalar", nil, nil, nil]
+  ]
   STATUS_UNKNOWN = -2
   STATUS_NO_FIX = -1
   STATUS_FIX = 0

data/data/msgs/sensor_msgs/msg/PointCloud2.rb

@@ -0,0 +1,68 @@
+# sensor_msgs/msg/PointCloud2 (ROS 2 jazzy), generated by asterism_msggen.rb from
+# PointCloud2.msg of the package sensor_msgs.
+# License: Apache License 2.0, as the definition (package.xml of sensor_msgs).
+# Do not edit; regenerate instead.
+
+::Asterism::ROS.require_type("sensor_msgs/msg/PointField")
+::Asterism::ROS.require_type("std_msgs/msg/Header")
+
+module ::Asterism::ROS::SensorMsgs
+end
+
+class ::Asterism::ROS::SensorMsgs::PointCloud2 < ::Asterism::ROS::Message
+  ROS_NAME = "sensor_msgs/msg/PointCloud2"
+  TYPE_NAME = "sensor_msgs::msg::dds_::PointCloud2_"
+  TYPE_HASH = "RIHS01_9198cabf7da3796ae6fe19c4cb3bdd3525492988c70522628af5daa124bae2b5"
+  FIELDS = [:header, :height, :width, :fields, :is_bigendian, :point_step, :row_step, :data, :is_dense]
+  FIELD_TYPES = [
+    ["header", "std_msgs/msg/Header", "scalar", "std_msgs/msg/Header", nil, nil],
+    ["height", "uint32", "scalar", nil, nil, nil],
+    ["width", "uint32", "scalar", nil, nil, nil],
+    ["fields", "sensor_msgs/msg/PointField", "sequence", "sensor_msgs/msg/PointField", nil, nil],
+    ["is_bigendian", "bool", "scalar", nil, nil, nil],
+    ["point_step", "uint32", "scalar", nil, nil, nil],
+    ["row_step", "uint32", "scalar", nil, nil, nil],
+    ["data", "uint8", "sequence", nil, nil, nil],
+    ["is_dense", "bool", "scalar", nil, nil, nil]
+  ]
+
+  attr_accessor :header, :height, :width, :fields, :is_bigendian, :point_step, :row_step, :data, :is_dense
+
+  def initialize(header: nil, height: nil, width: nil, fields: nil, is_bigendian: nil, point_step: nil, row_step: nil, data: nil, is_dense: nil)
+    @header = ::Asterism::ROS::StdMsgs::Header.from(header)
+    @height = height.nil? ? 0 : height
+    @width = width.nil? ? 0 : width
+    @fields = fields.nil? ? [] : fields.map { |e| ::Asterism::ROS::SensorMsgs::PointField.from(e) }
+    @is_bigendian = is_bigendian.nil? ? false : is_bigendian
+    @point_step = point_step.nil? ? 0 : point_step
+    @row_step = row_step.nil? ? 0 : row_step
+    @data = data.nil? ? "" : data
+    @is_dense = is_dense.nil? ? false : is_dense
+  end
+
+  def self.write(w, m)
+    ::Asterism::ROS::StdMsgs::Header.write(w, ::Asterism::ROS::StdMsgs::Header.from(m.header))
+    w.uint32(m.height)
+    w.uint32(m.width)
+    w.structs(::Asterism::ROS::SensorMsgs::PointField, m.fields, nil, nil)
+    w.bool(m.is_bigendian)
+    w.uint32(m.point_step)
+    w.uint32(m.row_step)
+    w.bytes(m.data, nil, nil)
+    w.bool(m.is_dense)
+  end
+
+  def self.read(r)
+    m = new
+    m.header = ::Asterism::ROS::StdMsgs::Header.read(r)
+    m.height = r.uint32
+    m.width = r.uint32
+    m.fields = r.structs(::Asterism::ROS::SensorMsgs::PointField, nil)
+    m.is_bigendian = r.bool
+    m.point_step = r.uint32
+    m.row_step = r.uint32
+    m.data = r.bytes(nil)
+    m.is_dense = r.bool
+    m
+  end
+end

data/data/msgs/sensor_msgs/msg/PointField.rb

@@ -0,0 +1,53 @@
+# sensor_msgs/msg/PointField (ROS 2 jazzy), generated by asterism_msggen.rb from
+# PointField.msg of the package sensor_msgs.
+# License: Apache License 2.0, as the definition (package.xml of sensor_msgs).
+# Do not edit; regenerate instead.
+
+module ::Asterism::ROS::SensorMsgs
+end
+
+class ::Asterism::ROS::SensorMsgs::PointField < ::Asterism::ROS::Message
+  ROS_NAME = "sensor_msgs/msg/PointField"
+  TYPE_NAME = "sensor_msgs::msg::dds_::PointField_"
+  TYPE_HASH = "RIHS01_5c6a4750728c2bcfbbf7037225b20b02d4429634732146b742dee1726637ef01"
+  FIELDS = [:name, :offset, :datatype, :count]
+  FIELD_TYPES = [
+    ["name", "string", "scalar", nil, nil, nil],
+    ["offset", "uint32", "scalar", nil, nil, nil],
+    ["datatype", "uint8", "scalar", nil, nil, nil],
+    ["count", "uint32", "scalar", nil, nil, nil]
+  ]
+  INT8 = 1
+  UINT8 = 2
+  INT16 = 3
+  UINT16 = 4
+  INT32 = 5
+  UINT32 = 6
+  FLOAT32 = 7
+  FLOAT64 = 8
+
+  attr_accessor :name, :offset, :datatype, :count
+
+  def initialize(name: nil, offset: nil, datatype: nil, count: nil)
+    @name = name.nil? ? "" : name
+    @offset = offset.nil? ? 0 : offset
+    @datatype = datatype.nil? ? 0 : datatype
+    @count = count.nil? ? 0 : count
+  end
+
+  def self.write(w, m)
+    w.string(m.name)
+    w.uint32(m.offset)
+    w.uint8(m.datatype)
+    w.uint32(m.count)
+  end
+
+  def self.read(r)
+    m = new
+    m.name = r.string
+    m.offset = r.uint32
+    m.datatype = r.uint8
+    m.count = r.uint32
+    m
+  end
+end

data/data/msgs/sensor_msgs/msg/Range.rb

@@ -13,6 +13,15 @@ class ::Asterism::ROS::SensorMsgs::Range < ::Asterism::ROS::Message
   TYPE_NAME = "sensor_msgs::msg::dds_::Range_"
   TYPE_HASH = "RIHS01_b42b62562e93cbfe9d42b82fe5994dfa3d63d7d5c90a317981703f7388adff3a"
   FIELDS = [:header, :radiation_type, :field_of_view, :min_range, :max_range, :range, :variance]
+  FIELD_TYPES = [
+    ["header", "std_msgs/msg/Header", "scalar", "std_msgs/msg/Header", nil, nil],
+    ["radiation_type", "uint8", "scalar", nil, nil, nil],
+    ["field_of_view", "float32", "scalar", nil, nil, nil],
+    ["min_range", "float32", "scalar", nil, nil, nil],
+    ["max_range", "float32", "scalar", nil, nil, nil],
+    ["range", "float32", "scalar", nil, nil, nil],
+    ["variance", "float32", "scalar", nil, nil, nil]
+  ]
   ULTRASOUND = 0
   INFRARED = 1
 

data/data/msgs/sensor_msgs/msg/RelativeHumidity.rb

@@ -13,6 +13,11 @@ class ::Asterism::ROS::SensorMsgs::RelativeHumidity < ::Asterism::ROS::Message
   TYPE_NAME = "sensor_msgs::msg::dds_::RelativeHumidity_"
   TYPE_HASH = "RIHS01_8687c99b4fb393cb2e545e407b5ea7fd0b5d8960bcd849a0f86c544740138839"
   FIELDS = [:header, :relative_humidity, :variance]
+  FIELD_TYPES = [
+    ["header", "std_msgs/msg/Header", "scalar", "std_msgs/msg/Header", nil, nil],
+    ["relative_humidity", "float64", "scalar", nil, nil, nil],
+    ["variance", "float64", "scalar", nil, nil, nil]
+  ]
 
   attr_accessor :header, :relative_humidity, :variance
 

data/data/msgs/sensor_msgs/msg/Temperature.rb

@@ -13,6 +13,11 @@ class ::Asterism::ROS::SensorMsgs::Temperature < ::Asterism::ROS::Message
   TYPE_NAME = "sensor_msgs::msg::dds_::Temperature_"
   TYPE_HASH = "RIHS01_72514a14126ab9f8a9abec974c78e5610a367b59db5da355ff1fb982d5bad4b8"
   FIELDS = [:header, :temperature, :variance]
+  FIELD_TYPES = [
+    ["header", "std_msgs/msg/Header", "scalar", "std_msgs/msg/Header", nil, nil],
+    ["temperature", "float64", "scalar", nil, nil, nil],
+    ["variance", "float64", "scalar", nil, nil, nil]
+  ]
 
   attr_accessor :header, :temperature, :variance
 

data/data/msgs/std_msgs/msg/Bool.rb

@@ -11,6 +11,9 @@ class ::Asterism::ROS::StdMsgs::Bool < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::Bool_"
   TYPE_HASH = "RIHS01_feb91e995ff9ebd09c0cb3d2aed18b11077585839fb5db80193b62d74528f6c9"
   FIELDS = [:data]
+  FIELD_TYPES = [
+    ["data", "bool", "scalar", nil, nil, nil]
+  ]
 
   attr_accessor :data
 

data/data/msgs/std_msgs/msg/Byte.rb

@@ -11,6 +11,9 @@ class ::Asterism::ROS::StdMsgs::Byte < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::Byte_"
   TYPE_HASH = "RIHS01_41e1a3345f73fe93ede006da826a6ee274af23dd4653976ff249b0f44e3e798f"
   FIELDS = [:data]
+  FIELD_TYPES = [
+    ["data", "byte", "scalar", nil, nil, nil]
+  ]
 
   attr_accessor :data
 

data/data/msgs/std_msgs/msg/ByteMultiArray.rb

@@ -13,6 +13,10 @@ class ::Asterism::ROS::StdMsgs::ByteMultiArray < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::ByteMultiArray_"
   TYPE_HASH = "RIHS01_972fec7f50ab3c1d06783c228e79e8a9a509021708c511c059926261ada901d4"
   FIELDS = [:layout, :data]
+  FIELD_TYPES = [
+    ["layout", "std_msgs/msg/MultiArrayLayout", "scalar", "std_msgs/msg/MultiArrayLayout", nil, nil],
+    ["data", "byte", "sequence", nil, nil, nil]
+  ]
 
   attr_accessor :layout, :data
 

data/data/msgs/std_msgs/msg/Char.rb

@@ -11,6 +11,9 @@ class ::Asterism::ROS::StdMsgs::Char < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::Char_"
   TYPE_HASH = "RIHS01_3ad2d04dd29ba19d04b16659afa3ccaedd691914b02a64e82e252f2fa6a586a9"
   FIELDS = [:data]
+  FIELD_TYPES = [
+    ["data", "char", "scalar", nil, nil, nil]
+  ]
 
   attr_accessor :data
 

data/data/msgs/std_msgs/msg/ColorRGBA.rb

@@ -11,6 +11,12 @@ class ::Asterism::ROS::StdMsgs::ColorRGBA < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::ColorRGBA_"
   TYPE_HASH = "RIHS01_77a7a5b9ae477306097665106e0413ba74440245b1f3d0c6d6405fe5c7813fe8"
   FIELDS = [:r, :g, :b, :a]
+  FIELD_TYPES = [
+    ["r", "float32", "scalar", nil, nil, nil],
+    ["g", "float32", "scalar", nil, nil, nil],
+    ["b", "float32", "scalar", nil, nil, nil],
+    ["a", "float32", "scalar", nil, nil, nil]
+  ]
 
   attr_accessor :r, :g, :b, :a
 

data/data/msgs/std_msgs/msg/Empty.rb

@@ -11,6 +11,7 @@ class ::Asterism::ROS::StdMsgs::Empty < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::Empty_"
   TYPE_HASH = "RIHS01_20b625256f32d5dbc0d04fee44f43c41e51c70d3502f84b4a08e7a9c26a96312"
   FIELDS = []
+  FIELD_TYPES = []
 
   def initialize
   end

data/data/msgs/std_msgs/msg/Float32.rb

@@ -11,6 +11,9 @@ class ::Asterism::ROS::StdMsgs::Float32 < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::Float32_"
   TYPE_HASH = "RIHS01_7170d3d8f841f7be3172ce5f4f59f3a4d7f63b0447e8b33327601ad64d83d6e2"
   FIELDS = [:data]
+  FIELD_TYPES = [
+    ["data", "float32", "scalar", nil, nil, nil]
+  ]
 
   attr_accessor :data
 

data/data/msgs/std_msgs/msg/Float32MultiArray.rb

@@ -13,6 +13,10 @@ class ::Asterism::ROS::StdMsgs::Float32MultiArray < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::Float32MultiArray_"
   TYPE_HASH = "RIHS01_0599f6f85b4bfca379873a0b4375a0aca022156bd2d7021275d116ed1fa8bfe0"
   FIELDS = [:layout, :data]
+  FIELD_TYPES = [
+    ["layout", "std_msgs/msg/MultiArrayLayout", "scalar", "std_msgs/msg/MultiArrayLayout", nil, nil],
+    ["data", "float32", "sequence", nil, nil, nil]
+  ]
 
   attr_accessor :layout, :data
 

data/data/msgs/std_msgs/msg/Float64.rb

@@ -11,6 +11,9 @@ class ::Asterism::ROS::StdMsgs::Float64 < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::Float64_"
   TYPE_HASH = "RIHS01_705ba9c3d1a09df43737eb67095534de36fd426c0587779bda2bc51fe790182a"
   FIELDS = [:data]
+  FIELD_TYPES = [
+    ["data", "float64", "scalar", nil, nil, nil]
+  ]
 
   attr_accessor :data
 

data/data/msgs/std_msgs/msg/Float64MultiArray.rb

@@ -13,6 +13,10 @@ class ::Asterism::ROS::StdMsgs::Float64MultiArray < ::Asterism::ROS::Message
   TYPE_NAME = "std_msgs::msg::dds_::Float64MultiArray_"
   TYPE_HASH = "RIHS01_1025ddc6b9552d191f89ef1a8d2f60f3d373e28b283d8891ddcc974e8c55397f"
   FIELDS = [:layout, :data]
+  FIELD_TYPES = [
+    ["layout", "std_msgs/msg/MultiArrayLayout", "scalar", "std_msgs/msg/MultiArrayLayout", nil, nil],
+    ["data", "float64", "sequence", nil, nil, nil]
+  ]
 
   attr_accessor :layout, :data