rosruby_msgs 0.0.1 → 0.0.2

data/lib/nav_msgs/OccupancyGrid.rb

@@ -0,0 +1,187 @@
+# autogenerated by genmsg_ruby from OccupancyGrid.msg. Do not edit.
+require 'ros/message'
+
+require "ros/time"
+require "std_msgs/Header"
+require "geometry_msgs/Point"
+require "nav_msgs/MapMetaData"
+require "geometry_msgs/Quaternion"
+require "geometry_msgs/Pose"
+
+module Nav_msgs
+
+class OccupancyGrid <::ROS::Message
+  def self.md5sum
+    "3381f2d731d4076ec5c71b0759edbe4e"
+  end
+
+  def self.type
+    "nav_msgs/OccupancyGrid"
+  end
+
+  def has_header?
+    true
+  end
+
+  def message_definition
+    "# This represents a 2-D grid map, in which each cell represents the probability of
+# occupancy.
+
+Header header 
+
+#MetaData for the map
+MapMetaData info
+
+# The map data, in row-major order, starting with (0,0).  Occupancy
+# probabilities are in the range [0,100].  Unknown is -1.
+int8[] data
+
+================================================================================
+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: nav_msgs/MapMetaData
+# This hold basic information about the characterists of the OccupancyGrid
+
+# The time at which the map was loaded
+time map_load_time
+# The map resolution [m/cell]
+float32 resolution
+# Map width [cells]
+uint32 width
+# Map height [cells]
+uint32 height
+# The origin of the map [m, m, rad].  This is the real-world pose of the
+# cell (0,0) in the map.
+geometry_msgs/Pose origin
+================================================================================
+MSG: geometry_msgs/Pose
+# A representation of pose in free space, composed of postion and orientation. 
+Point position
+Quaternion orientation
+
+================================================================================
+MSG: geometry_msgs/Point
+# This contains the position of a point 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
+
+"
+  end
+  attr_accessor :header, :info, :data
+
+  @@struct_L3 = ::ROS::Struct.new("L3")
+  @@struct_L2fL2d7 = ::ROS::Struct.new("L2fL2d7")
+
+  @@struct_L = ::ROS::Struct.new("L")
+  @@slot_types = ['Header','nav_msgs/MapMetaData','int8[]']
+
+  def initialize
+    #    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,info,data
+    #
+    #    @param args: complete set of field values, in .msg order
+    #    @param kwds: use keyword arguments corresponding to message field names
+    #    to set specific fields.
+    #
+
+    # message fields cannot be None, assign default values for those that are
+    @header = Std_msgs::Header.new
+    @info = Nav_msgs::MapMetaData.new
+    @data = []
+  end
+
+  def _get_types
+    # internal API method
+    return @slot_types
+  end
+
+  def serialize(buff)
+    #    serialize message into buffer
+    #    @param buff: buffer
+    #    @type  buff: StringIO
+    begin
+      buff.write(@@struct_L3.pack(@header.seq, @header.stamp.secs, @header.stamp.nsecs))
+      _x = @header.frame_id
+      length = _x.length
+      buff.write([length, _x].pack("La#{length}"))
+      buff.write(@@struct_L2fL2d7.pack(@info.map_load_time.secs, @info.map_load_time.nsecs, @info.resolution, @info.width, @info.height, @info.origin.position.x, @info.origin.position.y, @info.origin.position.z, @info.origin.orientation.x, @info.origin.orientation.y, @info.origin.orientation.z, @info.origin.orientation.w))
+      length = @data.length
+      buff.write(@@struct_L.pack(length))
+      pattern = "c#{length}"
+      buff.write(*@data.pack(pattern))
+    rescue => exception
+      raise "some erro in serialize: #{exception}"
+
+    end
+  end
+
+  def deserialize(str)
+    #    unpack serialized message in str into this message instance
+    #    @param str: byte array of serialized message
+    #    @type  str: str
+
+    begin
+      if @header == nil
+        @header = Std_msgs::Header.new
+      end
+      if @info == nil
+        @info = Nav_msgs::MapMetaData.new
+      end
+      end_point = 0
+      start = end_point
+      end_point += ROS::Struct::calc_size('L3')
+      (@header.seq, @header.stamp.secs, @header.stamp.nsecs,) = @@struct_L3.unpack(str[start..(end_point-1)])
+      start = end_point
+      end_point += 4
+      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
+      start = end_point
+      end_point += length
+      @header.frame_id = str[start..(end_point-1)]
+      start = end_point
+      end_point += ROS::Struct::calc_size('L2fL2d7')
+      (@info.map_load_time.secs, @info.map_load_time.nsecs, @info.resolution, @info.width, @info.height, @info.origin.position.x, @info.origin.position.y, @info.origin.position.z, @info.origin.orientation.x, @info.origin.orientation.y, @info.origin.orientation.z, @info.origin.orientation.w,) = @@struct_L2fL2d7.unpack(str[start..(end_point-1)])
+      start = end_point
+      end_point += 4
+      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
+      pattern = "c#{length}"
+      start = end_point
+      end_point += ROS::Struct::calc_size("#{pattern}")
+      @data = str[start..(end_point-1)].unpack(pattern)
+      return self
+    rescue => exception
+      raise "message DeserializationError: #{exception}" #most likely buffer underfill
+    end
+  end
+end # end of class
+end # end of module

data/lib/nav_msgs/Odometry.rb

@@ -0,0 +1,223 @@
+# autogenerated by genmsg_ruby from Odometry.msg. Do not edit.
+require 'ros/message'
+
+require "geometry_msgs/TwistWithCovariance"
+require "geometry_msgs/PoseWithCovariance"
+require "std_msgs/Header"
+require "geometry_msgs/Point"
+require "geometry_msgs/Twist"
+require "geometry_msgs/Quaternion"
+require "geometry_msgs/Vector3"
+require "geometry_msgs/Pose"
+
+module Nav_msgs
+
+class Odometry <::ROS::Message
+  def self.md5sum
+    "cd5e73d190d741a2f92e81eda573aca7"
+  end
+
+  def self.type
+    "nav_msgs/Odometry"
+  end
+
+  def has_header?
+    true
+  end
+
+  def message_definition
+    "# This represents an estimate of a position and velocity in free space.  
+# The pose in this message should be specified in the coordinate frame given by header.frame_id.
+# The twist in this message should be specified in the coordinate frame given by the child_frame_id
+Header header
+string child_frame_id
+geometry_msgs/PoseWithCovariance pose
+geometry_msgs/TwistWithCovariance twist
+
+================================================================================
+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: geometry_msgs/PoseWithCovariance
+# This represents a pose in free space with uncertainty.
+
+Pose pose
+
+# Row-major representation of the 6x6 covariance matrix
+# The orientation parameters use a fixed-axis representation.
+# In order, the parameters are:
+# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
+float64[36] covariance
+
+================================================================================
+MSG: geometry_msgs/Pose
+# A representation of pose in free space, composed of postion and orientation. 
+Point position
+Quaternion orientation
+
+================================================================================
+MSG: geometry_msgs/Point
+# This contains the position of a point 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: geometry_msgs/TwistWithCovariance
+# This expresses velocity in free space with uncertianty.
+
+Twist twist
+
+# Row-major representation of the 6x6 covariance matrix
+# The orientation parameters use a fixed-axis representation.
+# In order, the parameters are:
+# (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
+float64[36] covariance
+
+================================================================================
+MSG: geometry_msgs/Twist
+# This expresses velocity in free space broken into it's linear and angular parts. 
+Vector3  linear
+Vector3  angular
+
+================================================================================
+MSG: geometry_msgs/Vector3
+# This represents a vector in free space. 
+
+float64 x
+float64 y
+float64 z
+"
+  end
+  attr_accessor :header, :child_frame_id, :pose, :twist
+
+  @@struct_L3 = ::ROS::Struct.new("L3")
+  @@struct_d7 = ::ROS::Struct.new("d7")
+  @@struct_d6 = ::ROS::Struct.new("d6")
+  @@struct_d36 = ::ROS::Struct.new("d36")
+
+  @@struct_L = ::ROS::Struct.new("L")
+  @@slot_types = ['Header','string','geometry_msgs/PoseWithCovariance','geometry_msgs/TwistWithCovariance']
+
+  def initialize
+    #    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,child_frame_id,pose,twist
+    #
+    #    @param args: complete set of field values, in .msg order
+    #    @param kwds: use keyword arguments corresponding to message field names
+    #    to set specific fields.
+    #
+
+    # message fields cannot be None, assign default values for those that are
+    @header = Std_msgs::Header.new
+    @child_frame_id = ''
+    @pose = Geometry_msgs::PoseWithCovariance.new
+    @twist = Geometry_msgs::TwistWithCovariance.new
+  end
+
+  def _get_types
+    # internal API method
+    return @slot_types
+  end
+
+  def serialize(buff)
+    #    serialize message into buffer
+    #    @param buff: buffer
+    #    @type  buff: StringIO
+    begin
+      buff.write(@@struct_L3.pack(@header.seq, @header.stamp.secs, @header.stamp.nsecs))
+      _x = @header.frame_id
+      length = _x.length
+      buff.write([length, _x].pack("La#{length}"))
+      _x = @child_frame_id
+      length = _x.length
+      buff.write([length, _x].pack("La#{length}"))
+      buff.write(@@struct_d7.pack(@pose.pose.position.x, @pose.pose.position.y, @pose.pose.position.z, @pose.pose.orientation.x, @pose.pose.orientation.y, @pose.pose.orientation.z, @pose.pose.orientation.w))
+      buff.write(@@struct_d36.pack(*@pose.covariance))
+      buff.write(@@struct_d6.pack(@twist.twist.linear.x, @twist.twist.linear.y, @twist.twist.linear.z, @twist.twist.angular.x, @twist.twist.angular.y, @twist.twist.angular.z))
+      buff.write(@@struct_d36.pack(*@twist.covariance))
+    rescue => exception
+      raise "some erro in serialize: #{exception}"
+
+    end
+  end
+
+  def deserialize(str)
+    #    unpack serialized message in str into this message instance
+    #    @param str: byte array of serialized message
+    #    @type  str: str
+
+    begin
+      if @header == nil
+        @header = Std_msgs::Header.new
+      end
+      if @pose == nil
+        @pose = Geometry_msgs::PoseWithCovariance.new
+      end
+      if @twist == nil
+        @twist = Geometry_msgs::TwistWithCovariance.new
+      end
+      end_point = 0
+      start = end_point
+      end_point += ROS::Struct::calc_size('L3')
+      (@header.seq, @header.stamp.secs, @header.stamp.nsecs,) = @@struct_L3.unpack(str[start..(end_point-1)])
+      start = end_point
+      end_point += 4
+      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
+      start = end_point
+      end_point += length
+      @header.frame_id = str[start..(end_point-1)]
+      start = end_point
+      end_point += 4
+      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
+      start = end_point
+      end_point += length
+      @child_frame_id = str[start..(end_point-1)]
+      start = end_point
+      end_point += ROS::Struct::calc_size('d7')
+      (@pose.pose.position.x, @pose.pose.position.y, @pose.pose.position.z, @pose.pose.orientation.x, @pose.pose.orientation.y, @pose.pose.orientation.z, @pose.pose.orientation.w,) = @@struct_d7.unpack(str[start..(end_point-1)])
+      start = end_point
+      end_point += 8
+      @pose.covariance = @@struct_d36.unpack(str[start..(end_point-1)])
+      start = end_point
+      end_point += ROS::Struct::calc_size('d6')
+      (@twist.twist.linear.x, @twist.twist.linear.y, @twist.twist.linear.z, @twist.twist.angular.x, @twist.twist.angular.y, @twist.twist.angular.z,) = @@struct_d6.unpack(str[start..(end_point-1)])
+      start = end_point
+      end_point += 8
+      @twist.covariance = @@struct_d36.unpack(str[start..(end_point-1)])
+      return self
+    rescue => exception
+      raise "message DeserializationError: #{exception}" #most likely buffer underfill
+    end
+  end
+end # end of class
+end # end of module

data/lib/nav_msgs/Path.rb

@@ -0,0 +1,205 @@
+# autogenerated by genmsg_ruby from Path.msg. Do not edit.
+require 'ros/message'
+
+require "std_msgs/Header"
+require "geometry_msgs/Quaternion"
+require "geometry_msgs/Point"
+require "geometry_msgs/Pose"
+require "geometry_msgs/PoseStamped"
+
+module Nav_msgs
+
+class Path <::ROS::Message
+  def self.md5sum
+    "6227e2b7e9cce15051f669a5e197bbf7"
+  end
+
+  def self.type
+    "nav_msgs/Path"
+  end
+
+  def has_header?
+    true
+  end
+
+  def message_definition
+    "#An array of poses that represents a Path for a robot to follow
+Header header
+geometry_msgs/PoseStamped[] poses
+
+================================================================================
+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: geometry_msgs/PoseStamped
+# A Pose with reference coordinate frame and timestamp
+Header header
+Pose pose
+
+================================================================================
+MSG: geometry_msgs/Pose
+# A representation of pose in free space, composed of postion and orientation. 
+Point position
+Quaternion orientation
+
+================================================================================
+MSG: geometry_msgs/Point
+# This contains the position of a point 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
+
+"
+  end
+  attr_accessor :header, :poses
+
+  @@struct_d4 = ::ROS::Struct.new("d4")
+  @@struct_L3 = ::ROS::Struct.new("L3")
+  @@struct_L2 = ::ROS::Struct.new("L2")
+  @@struct_d3 = ::ROS::Struct.new("d3")
+
+  @@struct_L = ::ROS::Struct.new("L")
+  @@slot_types = ['Header','geometry_msgs/PoseStamped[]']
+
+  def initialize
+    #    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,poses
+    #
+    #    @param args: complete set of field values, in .msg order
+    #    @param kwds: use keyword arguments corresponding to message field names
+    #    to set specific fields.
+    #
+
+    # message fields cannot be None, assign default values for those that are
+    @header = Std_msgs::Header.new
+    @poses = []
+  end
+
+  def _get_types
+    # internal API method
+    return @slot_types
+  end
+
+  def serialize(buff)
+    #    serialize message into buffer
+    #    @param buff: buffer
+    #    @type  buff: StringIO
+    begin
+      buff.write(@@struct_L3.pack(@header.seq, @header.stamp.secs, @header.stamp.nsecs))
+      _x = @header.frame_id
+      length = _x.length
+      buff.write([length, _x].pack("La#{length}"))
+      length = @poses.length
+      buff.write(@@struct_L.pack(length))
+      for val1 in @poses
+        _v1 = val1.header
+        buff.write(@@struct_L.pack(_v1.seq))
+        _v2 = _v1.stamp
+        _x = _v2
+        buff.write(@@struct_L2.pack(_x.secs, _x.nsecs))
+        _x = _v1.frame_id
+        length = _x.length
+        buff.write([length, _x].pack("La#{length}"))
+        _v3 = val1.pose
+        _v4 = _v3.position
+        _x = _v4
+        buff.write(@@struct_d3.pack(_x.x, _x.y, _x.z))
+        _v5 = _v3.orientation
+        _x = _v5
+        buff.write(@@struct_d4.pack(_x.x, _x.y, _x.z, _x.w))
+      end
+    rescue => exception
+      raise "some erro in serialize: #{exception}"
+
+    end
+  end
+
+  def deserialize(str)
+    #    unpack serialized message in str into this message instance
+    #    @param str: byte array of serialized message
+    #    @type  str: str
+
+    begin
+      if @header == nil
+        @header = Std_msgs::Header.new
+      end
+      end_point = 0
+      start = end_point
+      end_point += ROS::Struct::calc_size('L3')
+      (@header.seq, @header.stamp.secs, @header.stamp.nsecs,) = @@struct_L3.unpack(str[start..(end_point-1)])
+      start = end_point
+      end_point += 4
+      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
+      start = end_point
+      end_point += length
+      @header.frame_id = str[start..(end_point-1)]
+      start = end_point
+      end_point += 4
+      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
+      @poses = []
+      length.times do
+        val1 = Geometry_msgs::PoseStamped.new
+        _v6 = val1.header
+        start = end_point
+        end_point += ROS::Struct::calc_size('L')
+        (_v6.seq,) = @@struct_L.unpack(str[start..(end_point-1)])
+        _v7 = _v6.stamp
+        _x = _v7
+        start = end_point
+        end_point += ROS::Struct::calc_size('L2')
+        (_x.secs, _x.nsecs,) = @@struct_L2.unpack(str[start..(end_point-1)])
+        start = end_point
+        end_point += 4
+        (length,) = @@struct_L.unpack(str[start..(end_point-1)])
+        start = end_point
+        end_point += length
+        _v6.frame_id = str[start..(end_point-1)]
+        _v8 = val1.pose
+        _v9 = _v8.position
+        _x = _v9
+        start = end_point
+        end_point += ROS::Struct::calc_size('d3')
+        (_x.x, _x.y, _x.z,) = @@struct_d3.unpack(str[start..(end_point-1)])
+        _v10 = _v8.orientation
+        _x = _v10
+        start = end_point
+        end_point += ROS::Struct::calc_size('d4')
+        (_x.x, _x.y, _x.z, _x.w,) = @@struct_d4.unpack(str[start..(end_point-1)])
+        @poses.push(val1)
+      end
+      return self
+    rescue => exception
+      raise "message DeserializationError: #{exception}" #most likely buffer underfill
+    end
+  end
+end # end of class
+end # end of module