rosruby_msgs 0.0.1 → 0.0.2

data/lib/sensor_msgs/CameraInfo.rb

@@ -0,0 +1,325 @@
+# autogenerated by genmsg_ruby from CameraInfo.msg. Do not edit.
+require 'ros/message'
+
+require "std_msgs/Header"
+require "sensor_msgs/RegionOfInterest"
+
+module Sensor_msgs
+
+class CameraInfo <::ROS::Message
+  def self.md5sum
+    "c9a58c1b0b154e0e6da7578cb991d214"
+  end
+
+  def self.type
+    "sensor_msgs/CameraInfo"
+  end
+
+  def has_header?
+    true
+  end
+
+  def message_definition
+    "# This message defines meta information for a camera. It should be in a
+# camera namespace on topic \"camera_info\" and accompanied by up to five
+# image topics named:
+#
+#   image_raw - raw data from the camera driver, possibly Bayer encoded
+#   image            - monochrome, distorted
+#   image_color      - color, distorted
+#   image_rect       - monochrome, rectified
+#   image_rect_color - color, rectified
+#
+# The image_pipeline contains packages (image_proc, stereo_image_proc)
+# for producing the four processed image topics from image_raw and
+# camera_info. The meaning of the camera parameters are described in
+# detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.
+#
+# The image_geometry package provides a user-friendly interface to
+# common operations using this meta information. If you want to, e.g.,
+# project a 3d point into image coordinates, we strongly recommend
+# using image_geometry.
+#
+# If the camera is uncalibrated, the matrices D, K, R, P should be left
+# zeroed out. In particular, clients may assume that K[0] == 0.0
+# indicates an uncalibrated camera.
+
+#######################################################################
+#                     Image acquisition info                          #
+#######################################################################
+
+# Time of image acquisition, camera coordinate frame ID
+Header header    # Header timestamp should be acquisition time of image
+                 # Header frame_id should be optical frame of camera
+                 # origin of frame should be optical center of camera
+                 # +x should point to the right in the image
+                 # +y should point down in the image
+                 # +z should point into the plane of the image
+
+
+#######################################################################
+#                      Calibration Parameters                         #
+#######################################################################
+# These are fixed during camera calibration. Their values will be the #
+# same in all messages until the camera is recalibrated. Note that    #
+# self-calibrating systems may \"recalibrate\" frequently.              #
+#                                                                     #
+# The internal parameters can be used to warp a raw (distorted) image #
+# to:                                                                 #
+#   1. An undistorted image (requires D and K)                        #
+#   2. A rectified image (requires D, K, R)                           #
+# The projection matrix P projects 3D points into the rectified image.#
+#######################################################################
+
+# The image dimensions with which the camera was calibrated. Normally
+# this will be the full camera resolution in pixels.
+uint32 height
+uint32 width
+
+# The distortion model used. Supported models are listed in
+# sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a
+# simple model of radial and tangential distortion - is sufficent.
+string distortion_model
+
+# The distortion parameters, size depending on the distortion model.
+# For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).
+float64[] D
+
+# Intrinsic camera matrix for the raw (distorted) images.
+#     [fx  0 cx]
+# K = [ 0 fy cy]
+#     [ 0  0  1]
+# Projects 3D points in the camera coordinate frame to 2D pixel
+# coordinates using the focal lengths (fx, fy) and principal point
+# (cx, cy).
+float64[9]  K # 3x3 row-major matrix
+
+# Rectification matrix (stereo cameras only)
+# A rotation matrix aligning the camera coordinate system to the ideal
+# stereo image plane so that epipolar lines in both stereo images are
+# parallel.
+float64[9]  R # 3x3 row-major matrix
+
+# Projection/camera matrix
+#     [fx'  0  cx' Tx]
+# P = [ 0  fy' cy' Ty]
+#     [ 0   0   1   0]
+# By convention, this matrix specifies the intrinsic (camera) matrix
+#  of the processed (rectified) image. That is, the left 3x3 portion
+#  is the normal camera intrinsic matrix for the rectified image.
+# It projects 3D points in the camera coordinate frame to 2D pixel
+#  coordinates using the focal lengths (fx', fy') and principal point
+#  (cx', cy') - these may differ from the values in K.
+# For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will
+#  also have R = the identity and P[1:3,1:3] = K.
+# For a stereo pair, the fourth column [Tx Ty 0]' is related to the
+#  position of the optical center of the second camera in the first
+#  camera's frame. We assume Tz = 0 so both cameras are in the same
+#  stereo image plane. The first camera always has Tx = Ty = 0. For
+#  the right (second) camera of a horizontal stereo pair, Ty = 0 and
+#  Tx = -fx' * B, where B is the baseline between the cameras.
+# Given a 3D point [X Y Z]', the projection (x, y) of the point onto
+#  the rectified image is given by:
+#  [u v w]' = P * [X Y Z 1]'
+#         x = u / w
+#         y = v / w
+#  This holds for both images of a stereo pair.
+float64[12] P # 3x4 row-major matrix
+
+
+#######################################################################
+#                      Operational Parameters                         #
+#######################################################################
+# These define the image region actually captured by the camera       #
+# driver. Although they affect the geometry of the output image, they #
+# may be changed freely without recalibrating the camera.             #
+#######################################################################
+
+# Binning refers here to any camera setting which combines rectangular
+#  neighborhoods of pixels into larger \"super-pixels.\" It reduces the
+#  resolution of the output image to
+#  (width / binning_x) x (height / binning_y).
+# The default values binning_x = binning_y = 0 is considered the same
+#  as binning_x = binning_y = 1 (no subsampling).
+uint32 binning_x
+uint32 binning_y
+
+# Region of interest (subwindow of full camera resolution), given in
+#  full resolution (unbinned) image coordinates. A particular ROI
+#  always denotes the same window of pixels on the camera sensor,
+#  regardless of binning settings.
+# The default setting of roi (all values 0) is considered the same as
+#  full resolution (roi.width = width, roi.height = height).
+RegionOfInterest roi
+
+================================================================================
+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: sensor_msgs/RegionOfInterest
+# This message is used to specify a region of interest within an image.
+#
+# When used to specify the ROI setting of the camera when the image was
+# taken, the height and width fields should either match the height and
+# width fields for the associated image; or height = width = 0
+# indicates that the full resolution image was captured.
+
+uint32 x_offset  # Leftmost pixel of the ROI
+                 # (0 if the ROI includes the left edge of the image)
+uint32 y_offset  # Topmost pixel of the ROI
+                 # (0 if the ROI includes the top edge of the image)
+uint32 height    # Height of ROI
+uint32 width     # Width of ROI
+
+# True if a distinct rectified ROI should be calculated from the \"raw\"
+# ROI in this message. Typically this should be False if the full image
+# is captured (ROI not used), and True if a subwindow is captured (ROI
+# used).
+bool do_rectify
+
+"
+  end
+  attr_accessor :header, :height, :width, :distortion_model, :D, :K, :R, :P, :binning_x, :binning_y, :roi
+
+  @@struct_L6C = ::ROS::Struct.new("L6C")
+  @@struct_L3 = ::ROS::Struct.new("L3")
+  @@struct_d12 = ::ROS::Struct.new("d12")
+  @@struct_L2 = ::ROS::Struct.new("L2")
+  @@struct_d9 = ::ROS::Struct.new("d9")
+
+  @@struct_L = ::ROS::Struct.new("L")
+  @@slot_types = ['Header','uint32','uint32','string','float64[]','float64[9]','float64[9]','float64[12]','uint32','uint32','sensor_msgs/RegionOfInterest']
+
+  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,height,width,distortion_model,D,K,R,P,binning_x,binning_y,roi
+    #
+    #    @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
+    @height = 0
+    @width = 0
+    @distortion_model = ''
+    @D = []
+    @K = [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]
+    @R = [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]
+    @P = [0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0,0.0]
+    @binning_x = 0
+    @binning_y = 0
+    @roi = Sensor_msgs::RegionOfInterest.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}"))
+      buff.write(@@struct_L2.pack(@height, @width))
+      _x = @distortion_model
+      length = _x.length
+      buff.write([length, _x].pack("La#{length}"))
+      length = @D.length
+      buff.write(@@struct_L.pack(length))
+      pattern = "d#{length}"
+      buff.write(*@D.pack(pattern))
+      buff.write(@@struct_d9.pack(*@K))
+      buff.write(@@struct_d9.pack(*@R))
+      buff.write(@@struct_d12.pack(*@P))
+      buff.write(@@struct_L6C.pack(@binning_x, @binning_y, @roi.x_offset, @roi.y_offset, @roi.height, @roi.width, @roi.do_rectify))
+    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 @roi == nil
+        @roi = Sensor_msgs::RegionOfInterest.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('L2')
+      (@height, @width,) = @@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
+      @distortion_model = str[start..(end_point-1)]
+      start = end_point
+      end_point += 4
+      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
+      pattern = "d#{length}"
+      start = end_point
+      end_point += ROS::Struct::calc_size("#{pattern}")
+      @D = str[start..(end_point-1)].unpack(pattern)
+      start = end_point
+      end_point += 8
+      @K = @@struct_d9.unpack(str[start..(end_point-1)])
+      start = end_point
+      end_point += 8
+      @R = @@struct_d9.unpack(str[start..(end_point-1)])
+      start = end_point
+      end_point += 8
+      @P = @@struct_d12.unpack(str[start..(end_point-1)])
+      start = end_point
+      end_point += ROS::Struct::calc_size('L6C')
+      (@binning_x, @binning_y, @roi.x_offset, @roi.y_offset, @roi.height, @roi.width, @roi.do_rectify,) = @@struct_L6C.unpack(str[start..(end_point-1)])
+      @roi.do_rectify = bool(@roi.do_rectify)
+      return self
+    rescue => exception
+      raise "message DeserializationError: #{exception}" #most likely buffer underfill
+    end
+  end
+end # end of class
+end # end of module

data/lib/sensor_msgs/ChannelFloat32.rb

@@ -0,0 +1,122 @@
+# autogenerated by genmsg_ruby from ChannelFloat32.msg. Do not edit.
+require 'ros/message'
+
+
+module Sensor_msgs
+
+class ChannelFloat32 <::ROS::Message
+  def self.md5sum
+    "3d40139cdd33dfedcb71ffeeeb42ae7f"
+  end
+
+  def self.type
+    "sensor_msgs/ChannelFloat32"
+  end
+
+  def has_header?
+    false
+  end
+
+  def message_definition
+    "# This message is used by the PointCloud message to hold optional data
+# associated with each point in the cloud. The length of the values
+# array should be the same as the length of the points array in the
+# PointCloud, and each value should be associated with the corresponding
+# point.
+
+# Channel names in existing practice include:
+#   \"u\", \"v\" - row and column (respectively) in the left stereo image.
+#              This is opposite to usual conventions but remains for
+#              historical reasons. The newer PointCloud2 message has no
+#              such problem.
+#   \"rgb\" - For point clouds produced by color stereo cameras. uint8
+#           (R,G,B) values packed into the least significant 24 bits,
+#           in order.
+#   \"intensity\" - laser or pixel intensity.
+#   \"distance\"
+
+# The channel name should give semantics of the channel (e.g.
+# \"intensity\" instead of \"value\").
+string name
+
+# The values array should be 1-1 with the elements of the associated
+# PointCloud.
+float32[] values
+
+"
+  end
+  attr_accessor :name, :values
+
+
+  @@struct_L = ::ROS::Struct.new("L")
+  @@slot_types = ['string','float32[]']
+
+  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:
+    #       name,values
+    #
+    #    @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
+    @name = ''
+    @values = []
+  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
+      _x = @name
+      length = _x.length
+      buff.write([length, _x].pack("La#{length}"))
+      length = @values.length
+      buff.write(@@struct_L.pack(length))
+      pattern = "f#{length}"
+      buff.write(*@values.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
+      end_point = 0
+      start = end_point
+      end_point += 4
+      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
+      start = end_point
+      end_point += length
+      @name = str[start..(end_point-1)]
+      start = end_point
+      end_point += 4
+      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
+      pattern = "f#{length}"
+      start = end_point
+      end_point += ROS::Struct::calc_size("#{pattern}")
+      @values = 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/sensor_msgs/CompressedImage.rb

@@ -0,0 +1,151 @@
+# autogenerated by genmsg_ruby from CompressedImage.msg. Do not edit.
+require 'ros/message'
+
+require "std_msgs/Header"
+
+module Sensor_msgs
+
+class CompressedImage <::ROS::Message
+  def self.md5sum
+    "8f7a12909da2c9d3332d540a0977563f"
+  end
+
+  def self.type
+    "sensor_msgs/CompressedImage"
+  end
+
+  def has_header?
+    true
+  end
+
+  def message_definition
+    "# This message contains a compressed image
+
+Header header        # Header timestamp should be acquisition time of image
+                     # Header frame_id should be optical frame of camera
+                     # origin of frame should be optical center of cameara
+                     # +x should point to the right in the image
+                     # +y should point down in the image
+                     # +z should point into to plane of the image
+
+string format        # Specifies the format of the data
+                     #   Acceptable values:
+                     #     jpeg, png
+uint8[] data         # Compressed image buffer
+
+================================================================================
+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
+
+"
+  end
+  attr_accessor :header, :format, :data
+
+  @@struct_L3 = ::ROS::Struct.new("L3")
+
+  @@struct_L = ::ROS::Struct.new("L")
+  @@slot_types = ['Header','string','uint8[]']
+
+  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,format,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
+    @format = ''
+    @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}"))
+      _x = @format
+      length = _x.length
+      buff.write([length, _x].pack("La#{length}"))
+      _x = @data
+      length = _x.length
+      # - if encoded as a list instead, serialize as bytes instead of string
+      if type(_x) in [list, tuple]
+        buff.write([length, *_x].pack("La#{length}"))
+      else
+        buff.write([length, _x].pack("La#{length}"))
+      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)])
+      start = end_point
+      end_point += length
+      @format = 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
+      @data = 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