rosruby_msgs 0.0.1 → 0.0.2

data/lib/stereo_msgs/DisparityImage.rb

@@ -0,0 +1,261 @@
+# autogenerated by genmsg_ruby from DisparityImage.msg. Do not edit.
+require 'ros/message'
+
+require "std_msgs/Header"
+require "sensor_msgs/RegionOfInterest"
+require "sensor_msgs/Image"
+
+module Stereo_msgs
+
+class DisparityImage <::ROS::Message
+  def self.md5sum
+    "04a177815f75271039fa21f16acad8c9"
+  end
+
+  def self.type
+    "stereo_msgs/DisparityImage"
+  end
+
+  def has_header?
+    true
+  end
+
+  def message_definition
+    "# Separate header for compatibility with current TimeSynchronizer.
+# Likely to be removed in a later release, use image.header instead.
+Header header
+
+# Floating point disparity image. The disparities are pre-adjusted for any
+# x-offset between the principal points of the two cameras (in the case
+# that they are verged). That is: d = x_l - x_r - (cx_l - cx_r)
+sensor_msgs/Image image
+
+# Stereo geometry. For disparity d, the depth from the camera is Z = fT/d.
+float32 f # Focal length, pixels
+float32 T # Baseline, world units
+
+# Subwindow of (potentially) valid disparity values.
+sensor_msgs/RegionOfInterest valid_window
+
+# The range of disparities searched.
+# In the disparity image, any disparity less than min_disparity is invalid.
+# The disparity search range defines the horopter, or 3D volume that the
+# stereo algorithm can \"see\". Points with Z outside of:
+#     Z_min = fT / max_disparity
+#     Z_max = fT / min_disparity
+# could not be found.
+float32 min_disparity
+float32 max_disparity
+
+# Smallest allowed disparity increment. The smallest achievable depth range
+# resolution is delta_Z = (Z^2/fT)*delta_d.
+float32 delta_d
+
+================================================================================
+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/Image
+# This message contains an uncompressed image
+# (0, 0) is at top-left corner of 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
+                     # If the frame_id here and the frame_id of the CameraInfo
+                     # message associated with the image conflict
+                     # the behavior is undefined
+
+uint32 height         # image height, that is, number of rows
+uint32 width          # image width, that is, number of columns
+
+# The legal values for encoding are in file src/image_encodings.cpp
+# If you want to standardize a new string format, join
+# ros-users@lists.sourceforge.net and send an email proposing a new encoding.
+
+string encoding       # Encoding of pixels -- channel meaning, ordering, size
+                      # taken from the list of strings in src/image_encodings.cpp
+
+uint8 is_bigendian    # is this data bigendian?
+uint32 step           # Full row length in bytes
+uint8[] data          # actual matrix data, size is (step * rows)
+
+================================================================================
+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, :image, :f, :T, :valid_window, :min_disparity, :max_disparity, :delta_d
+
+  @@struct_f2L4Cf3 = ::ROS::Struct.new("f2L4Cf3")
+  @@struct_L3 = ::ROS::Struct.new("L3")
+  @@struct_L2 = ::ROS::Struct.new("L2")
+  @@struct_CL = ::ROS::Struct.new("CL")
+
+  @@struct_L = ::ROS::Struct.new("L")
+  @@slot_types = ['Header','sensor_msgs/Image','float32','float32','sensor_msgs/RegionOfInterest','float32','float32','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:
+    #       header,image,f,T,valid_window,min_disparity,max_disparity,delta_d
+    #
+    #    @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
+    @image = Sensor_msgs::Image.new
+    @f = 0.0
+    @T = 0.0
+    @valid_window = Sensor_msgs::RegionOfInterest.new
+    @min_disparity = 0.0
+    @max_disparity = 0.0
+    @delta_d = 0.0
+  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_L3.pack(@image.header.seq, @image.header.stamp.secs, @image.header.stamp.nsecs))
+      _x = @image.header.frame_id
+      length = _x.length
+      buff.write([length, _x].pack("La#{length}"))
+      buff.write(@@struct_L2.pack(@image.height, @image.width))
+      _x = @image.encoding
+      length = _x.length
+      buff.write([length, _x].pack("La#{length}"))
+      buff.write(@@struct_CL.pack(@image.is_bigendian, @image.step))
+      _x = @image.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
+      buff.write(@@struct_f2L4Cf3.pack(@f, @T, @valid_window.x_offset, @valid_window.y_offset, @valid_window.height, @valid_window.width, @valid_window.do_rectify, @min_disparity, @max_disparity, @delta_d))
+    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 @image == nil
+        @image = Sensor_msgs::Image.new
+      end
+      if @valid_window == nil
+        @valid_window = 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('L3')
+      (@image.header.seq, @image.header.stamp.secs, @image.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
+      @image.header.frame_id = str[start..(end_point-1)]
+      start = end_point
+      end_point += ROS::Struct::calc_size('L2')
+      (@image.height, @image.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
+      @image.encoding = str[start..(end_point-1)]
+      start = end_point
+      end_point += ROS::Struct::calc_size('CL')
+      (@image.is_bigendian, @image.step,) = @@struct_CL.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
+      @image.data = str[start..(end_point-1)]
+      start = end_point
+      end_point += ROS::Struct::calc_size('f2L4Cf3')
+      (@f, @T, @valid_window.x_offset, @valid_window.y_offset, @valid_window.height, @valid_window.width, @valid_window.do_rectify, @min_disparity, @max_disparity, @delta_d,) = @@struct_f2L4Cf3.unpack(str[start..(end_point-1)])
+      @valid_window.do_rectify = bool(@valid_window.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/tf/FrameGraph.rb

@@ -0,0 +1,179 @@
+# autogenerated by genmsg_ruby from FrameGraphRequest.msg. Do not edit.
+require 'ros/message'
+
+
+module Tf
+
+class FrameGraphRequest <::ROS::Message
+  def self.md5sum
+    "d41d8cd98f00b204e9800998ecf8427e"
+  end
+
+  def self.type
+    "tf/FrameGraphRequest"
+  end
+
+  def has_header?
+    false
+  end
+
+  def message_definition
+    "
+"
+  end
+  attr_accessor 
+
+
+  @@struct_L = ::ROS::Struct.new("L")
+  @@slot_types = []
+
+  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:
+    #       
+    #
+    #    @param args: complete set of field values, in .msg order
+    #    @param kwds: use keyword arguments corresponding to message field names
+    #    to set specific fields.
+    #
+
+
+  def _get_types
+    # internal API method
+    return @slot_types
+  end
+
+  def serialize(buff)
+    #    serialize message into buffer
+    #    @param buff: buffer
+    #    @type  buff: StringIO
+    begin
+      pass
+    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
+      return self
+    rescue => exception
+      raise "message DeserializationError: #{exception}" #most likely buffer underfill
+    end
+  end
+end # end of class
+end # end of module
+# autogenerated by genmsg_ruby from FrameGraphResponse.msg. Do not edit.
+require 'ros/message'
+
+
+module Tf
+
+class FrameGraphResponse <::ROS::Message
+  def self.md5sum
+    "c4af9ac907e58e906eb0b6e3c58478c0"
+  end
+
+  def self.type
+    "tf/FrameGraphResponse"
+  end
+
+  def has_header?
+    false
+  end
+
+  def message_definition
+    "string dot_graph
+
+
+"
+  end
+  attr_accessor :dot_graph
+
+
+  @@struct_L = ::ROS::Struct.new("L")
+  @@slot_types = ['string']
+
+  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:
+    #       dot_graph
+    #
+    #    @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
+    @dot_graph = ''
+  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 = @dot_graph
+      length = _x.length
+      buff.write([length, _x].pack("La#{length}"))
+    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
+      @dot_graph = 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
+module Tf
+class FrameGraph
+  def self.type
+    'tf/FrameGraph'
+  end
+  def self.md5sum
+    'c4af9ac907e58e906eb0b6e3c58478c0'
+  end
+  def self.request_class
+    FrameGraphRequest
+  end
+  def self.response_class
+    FrameGraphResponse
+  end
+end
+end

data/lib/tf/tfMessage.rb

@@ -0,0 +1,202 @@
+# autogenerated by genmsg_ruby from tfMessage.msg. Do not edit.
+require 'ros/message'
+
+require "std_msgs/Header"
+require "geometry_msgs/Quaternion"
+require "geometry_msgs/Vector3"
+require "geometry_msgs/Transform"
+require "geometry_msgs/TransformStamped"
+
+module Tf
+
+class TfMessage <::ROS::Message
+  def self.md5sum
+    "94810edda583a504dfda3829e70d7eec"
+  end
+
+  def self.type
+    "tf/tfMessage"
+  end
+
+  def has_header?
+    false
+  end
+
+  def message_definition
+    "geometry_msgs/TransformStamped[] transforms
+
+================================================================================
+MSG: geometry_msgs/TransformStamped
+# This expresses a transform from coordinate frame header.frame_id
+# to the coordinate frame child_frame_id
+#
+# This message is mostly used by the 
+# <a href=\"http://www.ros.org/wiki/tf\">tf</a> package. 
+# See it's documentation for more information.
+
+Header header
+string child_frame_id # the frame id of the child frame
+Transform transform
+
+================================================================================
+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/Transform
+# This represents the transform between two coordinate frames in free space.
+
+Vector3 translation
+Quaternion rotation
+
+================================================================================
+MSG: geometry_msgs/Vector3
+# This represents a vector in free space. 
+
+float64 x
+float64 y
+float64 z
+================================================================================
+MSG: geometry_msgs/Quaternion
+# This represents an orientation in free space in quaternion form.
+
+float64 x
+float64 y
+float64 z
+float64 w
+
+"
+  end
+  attr_accessor :transforms
+
+  @@struct_d4 = ::ROS::Struct.new("d4")
+  @@struct_L2 = ::ROS::Struct.new("L2")
+  @@struct_d3 = ::ROS::Struct.new("d3")
+
+  @@struct_L = ::ROS::Struct.new("L")
+  @@slot_types = ['geometry_msgs/TransformStamped[]']
+
+  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:
+    #       transforms
+    #
+    #    @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
+    @transforms = []
+  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
+      length = @transforms.length
+      buff.write(@@struct_L.pack(length))
+      for val1 in @transforms
+        _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}"))
+        _x = val1.child_frame_id
+        length = _x.length
+        buff.write([length, _x].pack("La#{length}"))
+        _v3 = val1.transform
+        _v4 = _v3.translation
+        _x = _v4
+        buff.write(@@struct_d3.pack(_x.x, _x.y, _x.z))
+        _v5 = _v3.rotation
+        _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
+      end_point = 0
+      start = end_point
+      end_point += 4
+      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
+      @transforms = []
+      length.times do
+        val1 = Geometry_msgs::TransformStamped.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)]
+        start = end_point
+        end_point += 4
+        (length,) = @@struct_L.unpack(str[start..(end_point-1)])
+        start = end_point
+        end_point += length
+        val1.child_frame_id = str[start..(end_point-1)]
+        _v8 = val1.transform
+        _v9 = _v8.translation
+        _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.rotation
+        _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)])
+        @transforms.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