rosruby_msgs 0.0.2 → 0.0.3

data/{lib/nav_msgs → nav_msgs}/Odometry.rb

@@ -123,36 +123,46 @@ float64 z
   @@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.
-    #
-
+  # Constructor. You can set the default values using keyword operators.
+  #
+  # @param [Hash] args keyword for initializing values
+  # @option args [Header] :header initialize value
+  # @option args [string] :child_frame_id initialize value
+  # @option args [geometry_msgs/PoseWithCovariance] :pose initialize value
+  # @option args [geometry_msgs/TwistWithCovariance] :twist initialize value
+  def initialize(args={})
     # 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
+    if args[:header]
+      @header = args[:header]
+    else
+      @header = Std_msgs::Header.new
+    end
+    if args[:child_frame_id]
+      @child_frame_id = args[:child_frame_id]
+    else
+      @child_frame_id = ''
+    end
+    if args[:pose]
+      @pose = args[:pose]
+    else
+      @pose = Geometry_msgs::PoseWithCovariance.new
+    end
+    if args[:twist]
+      @twist = args[:twist]
+    else
+      @twist = Geometry_msgs::TwistWithCovariance.new
+    end
   end
 
+  # internal API method
+  # @return [String] Message type string.
   def _get_types
-    # internal API method
-    return @slot_types
+    @slot_types
   end
 
+  # serialize message into buffer
+  # @param [IO] buff buffer
   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
@@ -171,10 +181,9 @@ float64 z
     end
   end
 
+  #  unpack serialized message in str into this message instance
+  #  @param [String] str: byte array of serialized message
   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

data/{lib/nav_msgs → nav_msgs}/Path.rb

@@ -85,34 +85,34 @@ float64 w
   @@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.
-    #
-
+  # Constructor. You can set the default values using keyword operators.
+  #
+  # @param [Hash] args keyword for initializing values
+  # @option args [Header] :header initialize value
+  # @option args [geometry_msgs/PoseStamped[]] :poses initialize value
+  def initialize(args={})
     # message fields cannot be None, assign default values for those that are
-    @header = Std_msgs::Header.new
-    @poses = []
+    if args[:header]
+      @header = args[:header]
+    else
+      @header = Std_msgs::Header.new
+    end
+    if args[:poses]
+      @poses = args[:poses]
+    else
+      @poses = []
+    end
   end
 
+  # internal API method
+  # @return [String] Message type string.
   def _get_types
-    # internal API method
-    return @slot_types
+    @slot_types
   end
 
+  # serialize message into buffer
+  # @param [IO] buff buffer
   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
@@ -121,20 +121,20 @@ float64 w
       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
+        _v7 = val1.header
+        buff.write(@@struct_L.pack(_v7.seq))
+        _v8 = _v7.stamp
+        _x = _v8
         buff.write(@@struct_L2.pack(_x.secs, _x.nsecs))
-        _x = _v1.frame_id
+        _x = _v7.frame_id
         length = _x.length
         buff.write([length, _x].pack("La#{length}"))
-        _v3 = val1.pose
-        _v4 = _v3.position
-        _x = _v4
+        _v9 = val1.pose
+        _v10 = _v9.position
+        _x = _v10
         buff.write(@@struct_d3.pack(_x.x, _x.y, _x.z))
-        _v5 = _v3.orientation
-        _x = _v5
+        _v11 = _v9.orientation
+        _x = _v11
         buff.write(@@struct_d4.pack(_x.x, _x.y, _x.z, _x.w))
       end
     rescue => exception
@@ -143,10 +143,9 @@ float64 w
     end
   end
 
+  #  unpack serialized message in str into this message instance
+  #  @param [String] str: byte array of serialized message
   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
@@ -168,12 +167,12 @@ float64 w
       @poses = []
       length.times do
         val1 = Geometry_msgs::PoseStamped.new
-        _v6 = val1.header
+        _v12 = 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
+        (_v12.seq,) = @@struct_L.unpack(str[start..(end_point-1)])
+        _v13 = _v12.stamp
+        _x = _v13
         start = end_point
         end_point += ROS::Struct::calc_size('L2')
         (_x.secs, _x.nsecs,) = @@struct_L2.unpack(str[start..(end_point-1)])
@@ -182,15 +181,15 @@ float64 w
         (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
+        _v12.frame_id = str[start..(end_point-1)]
+        _v14 = val1.pose
+        _v15 = _v14.position
+        _x = _v15
         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
+        _v16 = _v14.orientation
+        _x = _v16
         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)])

data/pr2_controllers_msgs/JointTrajectoryAction.rb

@@ -0,0 +1,409 @@
+# autogenerated by genmsg_ruby from JointTrajectoryAction.msg. Do not edit.
+require 'ros/message'
+
+require "ros/time"
+require "trajectory_msgs/JointTrajectory"
+require "pr2_controllers_msgs/JointTrajectoryActionResult"
+require "pr2_controllers_msgs/JointTrajectoryActionGoal"
+require "ros/duration"
+require "pr2_controllers_msgs/JointTrajectoryResult"
+require "pr2_controllers_msgs/JointTrajectoryFeedback"
+require "std_msgs/Header"
+require "actionlib_msgs/GoalID"
+require "pr2_controllers_msgs/JointTrajectoryActionFeedback"
+require "trajectory_msgs/JointTrajectoryPoint"
+require "actionlib_msgs/GoalStatus"
+require "pr2_controllers_msgs/JointTrajectoryGoal"
+
+module Pr2_controllers_msgs
+
+class JointTrajectoryAction <::ROS::Message
+  def self.md5sum
+    "368cde325f76ad543f39a85373230b73"
+  end
+
+  def self.type
+    "pr2_controllers_msgs/JointTrajectoryAction"
+  end
+
+  def has_header?
+    false
+  end
+
+  def message_definition
+    "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+JointTrajectoryActionGoal action_goal
+JointTrajectoryActionResult action_result
+JointTrajectoryActionFeedback action_feedback
+
+================================================================================
+MSG: pr2_controllers_msgs/JointTrajectoryActionGoal
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+Header header
+actionlib_msgs/GoalID goal_id
+JointTrajectoryGoal goal
+
+================================================================================
+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: actionlib_msgs/GoalID
+# The stamp should store the time at which this goal was requested.
+# It is used by an action server when it tries to preempt all
+# goals that were requested before a certain time
+time stamp
+
+# The id provides a way to associate feedback and
+# result message with specific goal requests. The id
+# specified must be unique.
+string id
+
+
+================================================================================
+MSG: pr2_controllers_msgs/JointTrajectoryGoal
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+trajectory_msgs/JointTrajectory trajectory
+
+================================================================================
+MSG: trajectory_msgs/JointTrajectory
+Header header
+string[] joint_names
+JointTrajectoryPoint[] points
+================================================================================
+MSG: trajectory_msgs/JointTrajectoryPoint
+float64[] positions
+float64[] velocities
+float64[] accelerations
+duration time_from_start
+================================================================================
+MSG: pr2_controllers_msgs/JointTrajectoryActionResult
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+Header header
+actionlib_msgs/GoalStatus status
+JointTrajectoryResult result
+
+================================================================================
+MSG: actionlib_msgs/GoalStatus
+GoalID goal_id
+uint8 status
+uint8 PENDING         = 0   # The goal has yet to be processed by the action server
+uint8 ACTIVE          = 1   # The goal is currently being processed by the action server
+uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing
+                            #   and has since completed its execution (Terminal State)
+uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)
+uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due
+                            #    to some failure (Terminal State)
+uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,
+                            #    because the goal was unattainable or invalid (Terminal State)
+uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing
+                            #    and has not yet completed execution
+uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,
+                            #    but the action server has not yet confirmed that the goal is canceled
+uint8 RECALLED        = 8   # The goal received a cancel request before it started executing
+                            #    and was successfully cancelled (Terminal State)
+uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be
+                            #    sent over the wire by an action server
+
+#Allow for the user to associate a string with GoalStatus for debugging
+string text
+
+
+================================================================================
+MSG: pr2_controllers_msgs/JointTrajectoryResult
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+================================================================================
+MSG: pr2_controllers_msgs/JointTrajectoryActionFeedback
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+Header header
+actionlib_msgs/GoalStatus status
+JointTrajectoryFeedback feedback
+
+================================================================================
+MSG: pr2_controllers_msgs/JointTrajectoryFeedback
+# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
+
+
+"
+  end
+  attr_accessor :action_goal, :action_result, :action_feedback
+
+  @@struct_L3 = ::ROS::Struct.new("L3")
+  @@struct_C = ::ROS::Struct.new("C")
+  @@struct_L2 = ::ROS::Struct.new("L2")
+  @@struct_l2 = ::ROS::Struct.new("l2")
+
+  @@struct_L = ::ROS::Struct.new("L")
+  @@slot_types = ['pr2_controllers_msgs/JointTrajectoryActionGoal','pr2_controllers_msgs/JointTrajectoryActionResult','pr2_controllers_msgs/JointTrajectoryActionFeedback']
+
+  # Constructor. You can set the default values using keyword operators.
+  #
+  # @param [Hash] args keyword for initializing values
+  # @option args [pr2_controllers_msgs/JointTrajectoryActionGoal] :action_goal initialize value
+  # @option args [pr2_controllers_msgs/JointTrajectoryActionResult] :action_result initialize value
+  # @option args [pr2_controllers_msgs/JointTrajectoryActionFeedback] :action_feedback initialize value
+  def initialize(args={})
+    # message fields cannot be None, assign default values for those that are
+    if args[:action_goal]
+      @action_goal = args[:action_goal]
+    else
+      @action_goal = Pr2_controllers_msgs::JointTrajectoryActionGoal.new
+    end
+    if args[:action_result]
+      @action_result = args[:action_result]
+    else
+      @action_result = Pr2_controllers_msgs::JointTrajectoryActionResult.new
+    end
+    if args[:action_feedback]
+      @action_feedback = args[:action_feedback]
+    else
+      @action_feedback = Pr2_controllers_msgs::JointTrajectoryActionFeedback.new
+    end
+  end
+
+  # internal API method
+  # @return [String] Message type string.
+  def _get_types
+    @slot_types
+  end
+
+  # serialize message into buffer
+  # @param [IO] buff buffer
+  def serialize(buff)
+    begin
+      buff.write(@@struct_L3.pack(@action_goal.header.seq, @action_goal.header.stamp.secs, @action_goal.header.stamp.nsecs))
+      _x = @action_goal.header.frame_id
+      length = _x.length
+      buff.write([length, _x].pack("La#{length}"))
+      buff.write(@@struct_L2.pack(@action_goal.goal_id.stamp.secs, @action_goal.goal_id.stamp.nsecs))
+      _x = @action_goal.goal_id.id
+      length = _x.length
+      buff.write([length, _x].pack("La#{length}"))
+      buff.write(@@struct_L3.pack(@action_goal.goal.trajectory.header.seq, @action_goal.goal.trajectory.header.stamp.secs, @action_goal.goal.trajectory.header.stamp.nsecs))
+      _x = @action_goal.goal.trajectory.header.frame_id
+      length = _x.length
+      buff.write([length, _x].pack("La#{length}"))
+      length = @action_goal.goal.trajectory.joint_names.length
+      buff.write(@@struct_L.pack(length))
+      for val1 in @action_goal.goal.trajectory.joint_names
+        length = val1.length
+        buff.write([length, val1].pack("La#{length}"))
+      end
+      length = @action_goal.goal.trajectory.points.length
+      buff.write(@@struct_L.pack(length))
+      for val1 in @action_goal.goal.trajectory.points
+        length = val1.positions.length
+        buff.write(@@struct_L.pack(length))
+        pattern = "d#{length}"
+        buff.write(*val1.positions.pack(pattern))
+        length = val1.velocities.length
+        buff.write(@@struct_L.pack(length))
+        pattern = "d#{length}"
+        buff.write(*val1.velocities.pack(pattern))
+        length = val1.accelerations.length
+        buff.write(@@struct_L.pack(length))
+        pattern = "d#{length}"
+        buff.write(*val1.accelerations.pack(pattern))
+        _v153 = val1.time_from_start
+        _x = _v153
+        buff.write(@@struct_l2.pack(_x.secs, _x.nsecs))
+      end
+      buff.write(@@struct_L3.pack(@action_result.header.seq, @action_result.header.stamp.secs, @action_result.header.stamp.nsecs))
+      _x = @action_result.header.frame_id
+      length = _x.length
+      buff.write([length, _x].pack("La#{length}"))
+      buff.write(@@struct_L2.pack(@action_result.status.goal_id.stamp.secs, @action_result.status.goal_id.stamp.nsecs))
+      _x = @action_result.status.goal_id.id
+      length = _x.length
+      buff.write([length, _x].pack("La#{length}"))
+      buff.write(@@struct_C.pack(@action_result.status.status))
+      _x = @action_result.status.text
+      length = _x.length
+      buff.write([length, _x].pack("La#{length}"))
+      buff.write(@@struct_L3.pack(@action_feedback.header.seq, @action_feedback.header.stamp.secs, @action_feedback.header.stamp.nsecs))
+      _x = @action_feedback.header.frame_id
+      length = _x.length
+      buff.write([length, _x].pack("La#{length}"))
+      buff.write(@@struct_L2.pack(@action_feedback.status.goal_id.stamp.secs, @action_feedback.status.goal_id.stamp.nsecs))
+      _x = @action_feedback.status.goal_id.id
+      length = _x.length
+      buff.write([length, _x].pack("La#{length}"))
+      buff.write(@@struct_C.pack(@action_feedback.status.status))
+      _x = @action_feedback.status.text
+      length = _x.length
+      buff.write([length, _x].pack("La#{length}"))
+    rescue => exception
+      raise "some erro in serialize: #{exception}"
+
+    end
+  end
+
+  #  unpack serialized message in str into this message instance
+  #  @param [String] str: byte array of serialized message
+  def deserialize(str)
+
+    begin
+      if @action_goal == nil
+        @action_goal = Pr2_controllers_msgs::JointTrajectoryActionGoal.new
+      end
+      if @action_result == nil
+        @action_result = Pr2_controllers_msgs::JointTrajectoryActionResult.new
+      end
+      if @action_feedback == nil
+        @action_feedback = Pr2_controllers_msgs::JointTrajectoryActionFeedback.new
+      end
+      end_point = 0
+      start = end_point
+      end_point += ROS::Struct::calc_size('L3')
+      (@action_goal.header.seq, @action_goal.header.stamp.secs, @action_goal.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
+      @action_goal.header.frame_id = str[start..(end_point-1)]
+      start = end_point
+      end_point += ROS::Struct::calc_size('L2')
+      (@action_goal.goal_id.stamp.secs, @action_goal.goal_id.stamp.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
+      @action_goal.goal_id.id = str[start..(end_point-1)]
+      start = end_point
+      end_point += ROS::Struct::calc_size('L3')
+      (@action_goal.goal.trajectory.header.seq, @action_goal.goal.trajectory.header.stamp.secs, @action_goal.goal.trajectory.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
+      @action_goal.goal.trajectory.header.frame_id = str[start..(end_point-1)]
+      start = end_point
+      end_point += 4
+      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
+      @action_goal.goal.trajectory.joint_names = []
+      length.times do
+        start = end_point
+        end_point += 4
+        (length,) = @@struct_L.unpack(str[start..(end_point-1)])
+        start = end_point
+        end_point += length
+        val1 = str[start..(end_point-1)]
+        @action_goal.goal.trajectory.joint_names.push(val1)
+      end
+      start = end_point
+      end_point += 4
+      (length,) = @@struct_L.unpack(str[start..(end_point-1)])
+      @action_goal.goal.trajectory.points = []
+      length.times do
+        val1 = Trajectory_msgs::JointTrajectoryPoint.new
+        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}")
+        val1.positions = str[start..(end_point-1)].unpack(pattern)
+        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}")
+        val1.velocities = str[start..(end_point-1)].unpack(pattern)
+        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}")
+        val1.accelerations = str[start..(end_point-1)].unpack(pattern)
+        _v154 = val1.time_from_start
+        _x = _v154
+        start = end_point
+        end_point += ROS::Struct::calc_size('l2')
+        (_x.secs, _x.nsecs,) = @@struct_l2.unpack(str[start..(end_point-1)])
+        @action_goal.goal.trajectory.points.push(val1)
+      end
+      start = end_point
+      end_point += ROS::Struct::calc_size('L3')
+      (@action_result.header.seq, @action_result.header.stamp.secs, @action_result.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
+      @action_result.header.frame_id = str[start..(end_point-1)]
+      start = end_point
+      end_point += ROS::Struct::calc_size('L2')
+      (@action_result.status.goal_id.stamp.secs, @action_result.status.goal_id.stamp.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
+      @action_result.status.goal_id.id = str[start..(end_point-1)]
+      start = end_point
+      end_point += ROS::Struct::calc_size('C')
+      (@action_result.status.status,) = @@struct_C.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
+      @action_result.status.text = str[start..(end_point-1)]
+      start = end_point
+      end_point += ROS::Struct::calc_size('L3')
+      (@action_feedback.header.seq, @action_feedback.header.stamp.secs, @action_feedback.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
+      @action_feedback.header.frame_id = str[start..(end_point-1)]
+      start = end_point
+      end_point += ROS::Struct::calc_size('L2')
+      (@action_feedback.status.goal_id.stamp.secs, @action_feedback.status.goal_id.stamp.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
+      @action_feedback.status.goal_id.id = str[start..(end_point-1)]
+      start = end_point
+      end_point += ROS::Struct::calc_size('C')
+      (@action_feedback.status.status,) = @@struct_C.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
+      @action_feedback.status.text = 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