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/MoveRequest.h
+++ b/include/MoveRequest.h
@@ -0,0 +1,205 @@
+// Generated by gencpp from file sas_robot_driver_franka/MoveRequest.msg
+// DO NOT EDIT!
+
+
+#ifndef SAS_ROBOT_DRIVER_FRANKA_MESSAGE_MOVEREQUEST_H
+#define SAS_ROBOT_DRIVER_FRANKA_MESSAGE_MOVEREQUEST_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 MoveRequest_
+{
+  typedef MoveRequest_<ContainerAllocator> Type;
+
+  MoveRequest_()
+    : width(0.0)
+    , speed(0.0)  {
+    }
+  MoveRequest_(const ContainerAllocator& _alloc)
+    : width(0.0)
+    , speed(0.0)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef float _width_type;
+  _width_type width;
+
+   typedef float _speed_type;
+  _speed_type speed;
+
+
+
+
+
+  typedef boost::shared_ptr< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> const> ConstPtr;
+
+}; // struct MoveRequest_
+
+typedef ::sas_robot_driver_franka::MoveRequest_<std::allocator<void> > MoveRequest;
+
+typedef boost::shared_ptr< ::sas_robot_driver_franka::MoveRequest > MoveRequestPtr;
+typedef boost::shared_ptr< ::sas_robot_driver_franka::MoveRequest const> MoveRequestConstPtr;
+
+// constants requiring out of line definition
+
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> & v)
+{
+ros::message_operations::Printer< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> >::stream(s, "", v);
+return s;
+}
+
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator1> & lhs, const ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator2> & rhs)
+{
+  return lhs.width == rhs.width &&
+    lhs.speed == rhs.speed;
+}
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator1> & lhs, const ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator2> & rhs)
+{
+  return !(lhs == rhs);
+}
+
+
+} // namespace sas_robot_driver_franka
+
+namespace ros
+{
+namespace message_traits
+{
+
+
+
+
+
+template <class ContainerAllocator>
+struct IsMessage< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsMessage< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> >
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct IsFixedSize< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> const>
+  : TrueType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> >
+  : FalseType
+  { };
+
+template <class ContainerAllocator>
+struct HasHeader< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> const>
+  : FalseType
+  { };
+
+
+template<class ContainerAllocator>
+struct MD5Sum< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "b2d4f46fe020a06d64128c90310c767d";
+  }
+
+  static const char* value(const ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator>&) { return value(); }
+  static const uint64_t static_value1 = 0xb2d4f46fe020a06dULL;
+  static const uint64_t static_value2 = 0x64128c90310c767dULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "sas_robot_driver_franka/MoveRequest";
+  }
+
+  static const char* value(const ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator>&) { return value(); }
+};
+
+template<class ContainerAllocator>
+struct Definition< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> >
+{
+  static const char* value()
+  {
+    return "float32 width\n"
+"float32 speed\n"
+;
+  }
+
+  static const char* value(const ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator>&) { return value(); }
+};
+
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+  template<class ContainerAllocator> struct Serializer< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> >
+  {
+    template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+    {
+      stream.next(m.width);
+      stream.next(m.speed);
+    }
+
+    ROS_DECLARE_ALLINONE_SERIALIZER
+  }; // struct MoveRequest_
+
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::sas_robot_driver_franka::MoveRequest_<ContainerAllocator>& v)
+  {
+    s << indent << "width: ";
+    Printer<float>::stream(s, indent + "  ", v.width);
+    s << indent << "speed: ";
+    Printer<float>::stream(s, indent + "  ", v.speed);
+  }
+};
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // SAS_ROBOT_DRIVER_FRANKA_MESSAGE_MOVEREQUEST_H