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/GraspResponse.h
+++ b/include/GraspResponse.h
@@ -0,0 +1,195 @@
+// Generated by gencpp from file sas_robot_driver_franka/GraspResponse.msg
+// DO NOT EDIT!
+
+
+#ifndef SAS_ROBOT_DRIVER_FRANKA_MESSAGE_GRASPRESPONSE_H
+#define SAS_ROBOT_DRIVER_FRANKA_MESSAGE_GRASPRESPONSE_H
+
+
+#include <string>
+#include <vector>
+#include <memory>
+
+#include <ros/types.h>
+#include <ros/serialization.h>
+#include <ros/builtin_message_traits.h>
+#include <ros/message_operations.h>
+
+
+namespace sas_robot_driver_franka
+{
+template <class ContainerAllocator>
+struct GraspResponse_
+{
+  typedef GraspResponse_<ContainerAllocator> Type;
+
+  GraspResponse_()
+    : success(false)  {
+    }
+  GraspResponse_(const ContainerAllocator& _alloc)
+    : success(false)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef uint8_t _success_type;
+  _success_type success;
+
+
+
+
+
+  typedef boost::shared_ptr< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> const> ConstPtr;
+
+}; // struct GraspResponse_
+
+typedef ::sas_robot_driver_franka::GraspResponse_<std::allocator<void> > GraspResponse;
+
+typedef boost::shared_ptr< ::sas_robot_driver_franka::GraspResponse > GraspResponsePtr;
+typedef boost::shared_ptr< ::sas_robot_driver_franka::GraspResponse const> GraspResponseConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator1> & lhs, const ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator2> & rhs)
+{
+  return lhs.success == rhs.success;
+}
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator1> & lhs, const ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator2> & rhs)
+{
+  return !(lhs == rhs);
+}
+
+
+} // namespace sas_robot_driver_franka
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+
+
+template <class ContainerAllocator>
+struct IsMessage< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "358e233cde0c8a8bcfea4ce193f8fc15";
+  }
+
+  static const char* value(const ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0x358e233cde0c8a8bULL;
+  static const uint64_t static_value2 = 0xcfea4ce193f8fc15ULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "sas_robot_driver_franka/GraspResponse";
+  }
+
+  static const char* value(const ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "bool success\n"
+;
+  }
+
+  static const char* value(const ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.success);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER
+  }; // struct GraspResponse_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::sas_robot_driver_franka::GraspResponse_<ContainerAllocator>& v)
+  {
+    s << indent << "success: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.success);
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // SAS_ROBOT_DRIVER_FRANKA_MESSAGE_GRASPRESPONSE_H