added gripper driver for service control

2024-07-22 05:25:28 -07:00
parent 25e88f56ed
commit 101c45c228
19 changed files with 1805 additions and 305 deletions
--- a/include/Grasp.h
+++ b/include/Grasp.h
@@ -0,0 +1,123 @@
+// Generated by gencpp from file sas_robot_driver_franka/Grasp.msg
+// DO NOT EDIT!
+
+
+#ifndef SAS_ROBOT_DRIVER_FRANKA_MESSAGE_GRASP_H
+#define SAS_ROBOT_DRIVER_FRANKA_MESSAGE_GRASP_H
+
+#include <ros/service_traits.h>
+
+
+#include <sas_robot_driver_franka/GraspRequest.h>
+#include <sas_robot_driver_franka/GraspResponse.h>
+
+
+namespace sas_robot_driver_franka
+{
+
+struct Grasp
+{
+
+typedef GraspRequest Request;
+typedef GraspResponse Response;
+Request request;
+Response response;
+
+typedef Request RequestType;
+typedef Response ResponseType;
+
+}; // struct Grasp
+} // namespace sas_robot_driver_franka
+
+
+namespace ros
+{
+namespace service_traits
+{
+
+
+template<>
+struct MD5Sum< ::sas_robot_driver_franka::Grasp > {
+  static const char* value()
+  {
+    return "6752ec080e002a60682f31654d420583";
+  }
+
+  static const char* value(const ::sas_robot_driver_franka::Grasp&) { return value(); }
+};
+
+template<>
+struct DataType< ::sas_robot_driver_franka::Grasp > {
+  static const char* value()
+  {
+    return "sas_robot_driver_franka/Grasp";
+  }
+
+  static const char* value(const ::sas_robot_driver_franka::Grasp&) { return value(); }
+};
+
+
+// service_traits::MD5Sum< ::sas_robot_driver_franka::GraspRequest> should match
+// service_traits::MD5Sum< ::sas_robot_driver_franka::Grasp >
+template<>
+struct MD5Sum< ::sas_robot_driver_franka::GraspRequest>
+{
+  static const char* value()
+  {
+    return MD5Sum< ::sas_robot_driver_franka::Grasp >::value();
+  }
+  static const char* value(const ::sas_robot_driver_franka::GraspRequest&)
+  {
+    return value();
+  }
+};
+
+// service_traits::DataType< ::sas_robot_driver_franka::GraspRequest> should match
+// service_traits::DataType< ::sas_robot_driver_franka::Grasp >
+template<>
+struct DataType< ::sas_robot_driver_franka::GraspRequest>
+{
+  static const char* value()
+  {
+    return DataType< ::sas_robot_driver_franka::Grasp >::value();
+  }
+  static const char* value(const ::sas_robot_driver_franka::GraspRequest&)
+  {
+    return value();
+  }
+};
+
+// service_traits::MD5Sum< ::sas_robot_driver_franka::GraspResponse> should match
+// service_traits::MD5Sum< ::sas_robot_driver_franka::Grasp >
+template<>
+struct MD5Sum< ::sas_robot_driver_franka::GraspResponse>
+{
+  static const char* value()
+  {
+    return MD5Sum< ::sas_robot_driver_franka::Grasp >::value();
+  }
+  static const char* value(const ::sas_robot_driver_franka::GraspResponse&)
+  {
+    return value();
+  }
+};
+
+// service_traits::DataType< ::sas_robot_driver_franka::GraspResponse> should match
+// service_traits::DataType< ::sas_robot_driver_franka::Grasp >
+template<>
+struct DataType< ::sas_robot_driver_franka::GraspResponse>
+{
+  static const char* value()
+  {
+    return DataType< ::sas_robot_driver_franka::Grasp >::value();
+  }
+  static const char* value(const ::sas_robot_driver_franka::GraspResponse&)
+  {
+    return value();
+  }
+};
+
+} // namespace service_traits
+} // namespace ros
+
+#endif // SAS_ROBOT_DRIVER_FRANKA_MESSAGE_GRASP_H