diff --git a/include/Grasp.h b/include/Grasp.h deleted file mode 100644 index 138a0ef..0000000 --- a/include/Grasp.h +++ /dev/null @@ -1,123 +0,0 @@ -// 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 - - -#include -#include - - -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 diff --git a/include/GraspRequest.h b/include/GraspRequest.h deleted file mode 100644 index 4980bf1..0000000 --- a/include/GraspRequest.h +++ /dev/null @@ -1,235 +0,0 @@ -// Generated by gencpp from file sas_robot_driver_franka/GraspRequest.msg -// DO NOT EDIT! - - -#ifndef SAS_ROBOT_DRIVER_FRANKA_MESSAGE_GRASPREQUEST_H -#define SAS_ROBOT_DRIVER_FRANKA_MESSAGE_GRASPREQUEST_H - - -#include -#include -#include - -#include -#include -#include -#include - - -namespace sas_robot_driver_franka -{ -template -struct GraspRequest_ -{ - typedef GraspRequest_ Type; - - GraspRequest_() - : width(0.0) - , speed(0.0) - , force(0.0) - , epsilon_inner(0.0) - , epsilon_outer(0.0) { - } - GraspRequest_(const ContainerAllocator& _alloc) - : width(0.0) - , speed(0.0) - , force(0.0) - , epsilon_inner(0.0) - , epsilon_outer(0.0) { - (void)_alloc; - } - - - - typedef float _width_type; - _width_type width; - - typedef float _speed_type; - _speed_type speed; - - typedef float _force_type; - _force_type force; - - typedef float _epsilon_inner_type; - _epsilon_inner_type epsilon_inner; - - typedef float _epsilon_outer_type; - _epsilon_outer_type epsilon_outer; - - - - - - typedef boost::shared_ptr< ::sas_robot_driver_franka::GraspRequest_ > Ptr; - typedef boost::shared_ptr< ::sas_robot_driver_franka::GraspRequest_ const> ConstPtr; - -}; // struct GraspRequest_ - -typedef ::sas_robot_driver_franka::GraspRequest_ > GraspRequest; - -typedef boost::shared_ptr< ::sas_robot_driver_franka::GraspRequest > GraspRequestPtr; -typedef boost::shared_ptr< ::sas_robot_driver_franka::GraspRequest const> GraspRequestConstPtr; - -// constants requiring out of line definition - - - -template -std::ostream& operator<<(std::ostream& s, const ::sas_robot_driver_franka::GraspRequest_ & v) -{ -ros::message_operations::Printer< ::sas_robot_driver_franka::GraspRequest_ >::stream(s, "", v); -return s; -} - - -template -bool operator==(const ::sas_robot_driver_franka::GraspRequest_ & lhs, const ::sas_robot_driver_franka::GraspRequest_ & rhs) -{ - return lhs.width == rhs.width && - lhs.speed == rhs.speed && - lhs.force == rhs.force && - lhs.epsilon_inner == rhs.epsilon_inner && - lhs.epsilon_outer == rhs.epsilon_outer; -} - -template -bool operator!=(const ::sas_robot_driver_franka::GraspRequest_ & lhs, const ::sas_robot_driver_franka::GraspRequest_ & rhs) -{ - return !(lhs == rhs); -} - - -} // namespace sas_robot_driver_franka - -namespace ros -{ -namespace message_traits -{ - - - - - -template -struct IsMessage< ::sas_robot_driver_franka::GraspRequest_ > - : TrueType - { }; - -template -struct IsMessage< ::sas_robot_driver_franka::GraspRequest_ const> - : TrueType - { }; - -template -struct IsFixedSize< ::sas_robot_driver_franka::GraspRequest_ > - : TrueType - { }; - -template -struct IsFixedSize< ::sas_robot_driver_franka::GraspRequest_ const> - : TrueType - { }; - -template -struct HasHeader< ::sas_robot_driver_franka::GraspRequest_ > - : FalseType - { }; - -template -struct HasHeader< ::sas_robot_driver_franka::GraspRequest_ const> - : FalseType - { }; - - -template -struct MD5Sum< ::sas_robot_driver_franka::GraspRequest_ > -{ - static const char* value() - { - return "337f46ba15e58c568d47e27881cf893c"; - } - - static const char* value(const ::sas_robot_driver_franka::GraspRequest_&) { return value(); } - static const uint64_t static_value1 = 0x337f46ba15e58c56ULL; - static const uint64_t static_value2 = 0x8d47e27881cf893cULL; -}; - -template -struct DataType< ::sas_robot_driver_franka::GraspRequest_ > -{ - static const char* value() - { - return "sas_robot_driver_franka/GraspRequest"; - } - - static const char* value(const ::sas_robot_driver_franka::GraspRequest_&) { return value(); } -}; - -template -struct Definition< ::sas_robot_driver_franka::GraspRequest_ > -{ - static const char* value() - { - return "float32 width\n" -"float32 speed\n" -"float32 force\n" -"float32 epsilon_inner\n" -"float32 epsilon_outer\n" -; - } - - static const char* value(const ::sas_robot_driver_franka::GraspRequest_&) { return value(); } -}; - -} // namespace message_traits -} // namespace ros - -namespace ros -{ -namespace serialization -{ - - template struct Serializer< ::sas_robot_driver_franka::GraspRequest_ > - { - template inline static void allInOne(Stream& stream, T m) - { - stream.next(m.width); - stream.next(m.speed); - stream.next(m.force); - stream.next(m.epsilon_inner); - stream.next(m.epsilon_outer); - } - - ROS_DECLARE_ALLINONE_SERIALIZER - }; // struct GraspRequest_ - -} // namespace serialization -} // namespace ros - -namespace ros -{ -namespace message_operations -{ - -template -struct Printer< ::sas_robot_driver_franka::GraspRequest_ > -{ - template static void stream(Stream& s, const std::string& indent, const ::sas_robot_driver_franka::GraspRequest_& v) - { - s << indent << "width: "; - Printer::stream(s, indent + " ", v.width); - s << indent << "speed: "; - Printer::stream(s, indent + " ", v.speed); - s << indent << "force: "; - Printer::stream(s, indent + " ", v.force); - s << indent << "epsilon_inner: "; - Printer::stream(s, indent + " ", v.epsilon_inner); - s << indent << "epsilon_outer: "; - Printer::stream(s, indent + " ", v.epsilon_outer); - } -}; - -} // namespace message_operations -} // namespace ros - -#endif // SAS_ROBOT_DRIVER_FRANKA_MESSAGE_GRASPREQUEST_H diff --git a/include/GraspResponse.h b/include/GraspResponse.h deleted file mode 100644 index 14732f7..0000000 --- a/include/GraspResponse.h +++ /dev/null @@ -1,195 +0,0 @@ -// 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 -#include -#include - -#include -#include -#include -#include - - -namespace sas_robot_driver_franka -{ -template -struct GraspResponse_ -{ - typedef GraspResponse_ 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_ > Ptr; - typedef boost::shared_ptr< ::sas_robot_driver_franka::GraspResponse_ const> ConstPtr; - -}; // struct GraspResponse_ - -typedef ::sas_robot_driver_franka::GraspResponse_ > 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 -std::ostream& operator<<(std::ostream& s, const ::sas_robot_driver_franka::GraspResponse_ & v) -{ -ros::message_operations::Printer< ::sas_robot_driver_franka::GraspResponse_ >::stream(s, "", v); -return s; -} - - -template -bool operator==(const ::sas_robot_driver_franka::GraspResponse_ & lhs, const ::sas_robot_driver_franka::GraspResponse_ & rhs) -{ - return lhs.success == rhs.success; -} - -template -bool operator!=(const ::sas_robot_driver_franka::GraspResponse_ & lhs, const ::sas_robot_driver_franka::GraspResponse_ & rhs) -{ - return !(lhs == rhs); -} - - -} // namespace sas_robot_driver_franka - -namespace ros -{ -namespace message_traits -{ - - - - - -template -struct IsMessage< ::sas_robot_driver_franka::GraspResponse_ > - : TrueType - { }; - -template -struct IsMessage< ::sas_robot_driver_franka::GraspResponse_ const> - : TrueType - { }; - -template -struct IsFixedSize< ::sas_robot_driver_franka::GraspResponse_ > - : TrueType - { }; - -template -struct IsFixedSize< ::sas_robot_driver_franka::GraspResponse_ const> - : TrueType - { }; - -template -struct HasHeader< ::sas_robot_driver_franka::GraspResponse_ > - : FalseType - { }; - -template -struct HasHeader< ::sas_robot_driver_franka::GraspResponse_ const> - : FalseType - { }; - - -template -struct MD5Sum< ::sas_robot_driver_franka::GraspResponse_ > -{ - static const char* value() - { - return "358e233cde0c8a8bcfea4ce193f8fc15"; - } - - static const char* value(const ::sas_robot_driver_franka::GraspResponse_&) { return value(); } - static const uint64_t static_value1 = 0x358e233cde0c8a8bULL; - static const uint64_t static_value2 = 0xcfea4ce193f8fc15ULL; -}; - -template -struct DataType< ::sas_robot_driver_franka::GraspResponse_ > -{ - static const char* value() - { - return "sas_robot_driver_franka/GraspResponse"; - } - - static const char* value(const ::sas_robot_driver_franka::GraspResponse_&) { return value(); } -}; - -template -struct Definition< ::sas_robot_driver_franka::GraspResponse_ > -{ - static const char* value() - { - return "bool success\n" -; - } - - static const char* value(const ::sas_robot_driver_franka::GraspResponse_&) { return value(); } -}; - -} // namespace message_traits -} // namespace ros - -namespace ros -{ -namespace serialization -{ - - template struct Serializer< ::sas_robot_driver_franka::GraspResponse_ > - { - template 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 -struct Printer< ::sas_robot_driver_franka::GraspResponse_ > -{ - template static void stream(Stream& s, const std::string& indent, const ::sas_robot_driver_franka::GraspResponse_& v) - { - s << indent << "success: "; - Printer::stream(s, indent + " ", v.success); - } -}; - -} // namespace message_operations -} // namespace ros - -#endif // SAS_ROBOT_DRIVER_FRANKA_MESSAGE_GRASPRESPONSE_H diff --git a/include/GripperState.h b/include/GripperState.h deleted file mode 100644 index 79fa636..0000000 --- a/include/GripperState.h +++ /dev/null @@ -1,235 +0,0 @@ -// Generated by gencpp from file sas_robot_driver_franka/GripperState.msg -// DO NOT EDIT! - - -#ifndef SAS_ROBOT_DRIVER_FRANKA_MESSAGE_GRIPPERSTATE_H -#define SAS_ROBOT_DRIVER_FRANKA_MESSAGE_GRIPPERSTATE_H - - -#include -#include -#include - -#include -#include -#include -#include - - -namespace sas_robot_driver_franka -{ -template -struct GripperState_ -{ - typedef GripperState_ Type; - - GripperState_() - : width(0.0) - , max_width(0.0) - , is_grasped(false) - , temperature(0) - , duration_ms(0) { - } - GripperState_(const ContainerAllocator& _alloc) - : width(0.0) - , max_width(0.0) - , is_grasped(false) - , temperature(0) - , duration_ms(0) { - (void)_alloc; - } - - - - typedef float _width_type; - _width_type width; - - typedef float _max_width_type; - _max_width_type max_width; - - typedef uint8_t _is_grasped_type; - _is_grasped_type is_grasped; - - typedef uint16_t _temperature_type; - _temperature_type temperature; - - typedef uint64_t _duration_ms_type; - _duration_ms_type duration_ms; - - - - - - typedef boost::shared_ptr< ::sas_robot_driver_franka::GripperState_ > Ptr; - typedef boost::shared_ptr< ::sas_robot_driver_franka::GripperState_ const> ConstPtr; - -}; // struct GripperState_ - -typedef ::sas_robot_driver_franka::GripperState_ > GripperState; - -typedef boost::shared_ptr< ::sas_robot_driver_franka::GripperState > GripperStatePtr; -typedef boost::shared_ptr< ::sas_robot_driver_franka::GripperState const> GripperStateConstPtr; - -// constants requiring out of line definition - - - -template -std::ostream& operator<<(std::ostream& s, const ::sas_robot_driver_franka::GripperState_ & v) -{ -ros::message_operations::Printer< ::sas_robot_driver_franka::GripperState_ >::stream(s, "", v); -return s; -} - - -template -bool operator==(const ::sas_robot_driver_franka::GripperState_ & lhs, const ::sas_robot_driver_franka::GripperState_ & rhs) -{ - return lhs.width == rhs.width && - lhs.max_width == rhs.max_width && - lhs.is_grasped == rhs.is_grasped && - lhs.temperature == rhs.temperature && - lhs.duration_ms == rhs.duration_ms; -} - -template -bool operator!=(const ::sas_robot_driver_franka::GripperState_ & lhs, const ::sas_robot_driver_franka::GripperState_ & rhs) -{ - return !(lhs == rhs); -} - - -} // namespace sas_robot_driver_franka - -namespace ros -{ -namespace message_traits -{ - - - - - -template -struct IsMessage< ::sas_robot_driver_franka::GripperState_ > - : TrueType - { }; - -template -struct IsMessage< ::sas_robot_driver_franka::GripperState_ const> - : TrueType - { }; - -template -struct IsFixedSize< ::sas_robot_driver_franka::GripperState_ > - : TrueType - { }; - -template -struct IsFixedSize< ::sas_robot_driver_franka::GripperState_ const> - : TrueType - { }; - -template -struct HasHeader< ::sas_robot_driver_franka::GripperState_ > - : FalseType - { }; - -template -struct HasHeader< ::sas_robot_driver_franka::GripperState_ const> - : FalseType - { }; - - -template -struct MD5Sum< ::sas_robot_driver_franka::GripperState_ > -{ - static const char* value() - { - return "53f8669159aaded70b1783087f07679d"; - } - - static const char* value(const ::sas_robot_driver_franka::GripperState_&) { return value(); } - static const uint64_t static_value1 = 0x53f8669159aaded7ULL; - static const uint64_t static_value2 = 0x0b1783087f07679dULL; -}; - -template -struct DataType< ::sas_robot_driver_franka::GripperState_ > -{ - static const char* value() - { - return "sas_robot_driver_franka/GripperState"; - } - - static const char* value(const ::sas_robot_driver_franka::GripperState_&) { return value(); } -}; - -template -struct Definition< ::sas_robot_driver_franka::GripperState_ > -{ - static const char* value() - { - return "float32 width\n" -"float32 max_width\n" -"bool is_grasped\n" -"uint16 temperature\n" -"uint64 duration_ms\n" -; - } - - static const char* value(const ::sas_robot_driver_franka::GripperState_&) { return value(); } -}; - -} // namespace message_traits -} // namespace ros - -namespace ros -{ -namespace serialization -{ - - template struct Serializer< ::sas_robot_driver_franka::GripperState_ > - { - template inline static void allInOne(Stream& stream, T m) - { - stream.next(m.width); - stream.next(m.max_width); - stream.next(m.is_grasped); - stream.next(m.temperature); - stream.next(m.duration_ms); - } - - ROS_DECLARE_ALLINONE_SERIALIZER - }; // struct GripperState_ - -} // namespace serialization -} // namespace ros - -namespace ros -{ -namespace message_operations -{ - -template -struct Printer< ::sas_robot_driver_franka::GripperState_ > -{ - template static void stream(Stream& s, const std::string& indent, const ::sas_robot_driver_franka::GripperState_& v) - { - s << indent << "width: "; - Printer::stream(s, indent + " ", v.width); - s << indent << "max_width: "; - Printer::stream(s, indent + " ", v.max_width); - s << indent << "is_grasped: "; - Printer::stream(s, indent + " ", v.is_grasped); - s << indent << "temperature: "; - Printer::stream(s, indent + " ", v.temperature); - s << indent << "duration_ms: "; - Printer::stream(s, indent + " ", v.duration_ms); - } -}; - -} // namespace message_operations -} // namespace ros - -#endif // SAS_ROBOT_DRIVER_FRANKA_MESSAGE_GRIPPERSTATE_H diff --git a/include/Move.h b/include/Move.h deleted file mode 100644 index 5a2a06d..0000000 --- a/include/Move.h +++ /dev/null @@ -1,123 +0,0 @@ -// Generated by gencpp from file sas_robot_driver_franka/Move.msg -// DO NOT EDIT! - - -#ifndef SAS_ROBOT_DRIVER_FRANKA_MESSAGE_MOVE_H -#define SAS_ROBOT_DRIVER_FRANKA_MESSAGE_MOVE_H - -#include - - -#include -#include - - -namespace sas_robot_driver_franka -{ - -struct Move -{ - -typedef MoveRequest Request; -typedef MoveResponse Response; -Request request; -Response response; - -typedef Request RequestType; -typedef Response ResponseType; - -}; // struct Move -} // namespace sas_robot_driver_franka - - -namespace ros -{ -namespace service_traits -{ - - -template<> -struct MD5Sum< ::sas_robot_driver_franka::Move > { - static const char* value() - { - return "73e650ba1526b28d9e3f1be7ee33a441"; - } - - static const char* value(const ::sas_robot_driver_franka::Move&) { return value(); } -}; - -template<> -struct DataType< ::sas_robot_driver_franka::Move > { - static const char* value() - { - return "sas_robot_driver_franka/Move"; - } - - static const char* value(const ::sas_robot_driver_franka::Move&) { return value(); } -}; - - -// service_traits::MD5Sum< ::sas_robot_driver_franka::MoveRequest> should match -// service_traits::MD5Sum< ::sas_robot_driver_franka::Move > -template<> -struct MD5Sum< ::sas_robot_driver_franka::MoveRequest> -{ - static const char* value() - { - return MD5Sum< ::sas_robot_driver_franka::Move >::value(); - } - static const char* value(const ::sas_robot_driver_franka::MoveRequest&) - { - return value(); - } -}; - -// service_traits::DataType< ::sas_robot_driver_franka::MoveRequest> should match -// service_traits::DataType< ::sas_robot_driver_franka::Move > -template<> -struct DataType< ::sas_robot_driver_franka::MoveRequest> -{ - static const char* value() - { - return DataType< ::sas_robot_driver_franka::Move >::value(); - } - static const char* value(const ::sas_robot_driver_franka::MoveRequest&) - { - return value(); - } -}; - -// service_traits::MD5Sum< ::sas_robot_driver_franka::MoveResponse> should match -// service_traits::MD5Sum< ::sas_robot_driver_franka::Move > -template<> -struct MD5Sum< ::sas_robot_driver_franka::MoveResponse> -{ - static const char* value() - { - return MD5Sum< ::sas_robot_driver_franka::Move >::value(); - } - static const char* value(const ::sas_robot_driver_franka::MoveResponse&) - { - return value(); - } -}; - -// service_traits::DataType< ::sas_robot_driver_franka::MoveResponse> should match -// service_traits::DataType< ::sas_robot_driver_franka::Move > -template<> -struct DataType< ::sas_robot_driver_franka::MoveResponse> -{ - static const char* value() - { - return DataType< ::sas_robot_driver_franka::Move >::value(); - } - static const char* value(const ::sas_robot_driver_franka::MoveResponse&) - { - return value(); - } -}; - -} // namespace service_traits -} // namespace ros - -#endif // SAS_ROBOT_DRIVER_FRANKA_MESSAGE_MOVE_H diff --git a/include/MoveRequest.h b/include/MoveRequest.h deleted file mode 100644 index 6a30a44..0000000 --- a/include/MoveRequest.h +++ /dev/null @@ -1,205 +0,0 @@ -// 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 -#include -#include - -#include -#include -#include -#include - - -namespace sas_robot_driver_franka -{ -template -struct MoveRequest_ -{ - typedef MoveRequest_ 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_ > Ptr; - typedef boost::shared_ptr< ::sas_robot_driver_franka::MoveRequest_ const> ConstPtr; - -}; // struct MoveRequest_ - -typedef ::sas_robot_driver_franka::MoveRequest_ > 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 -std::ostream& operator<<(std::ostream& s, const ::sas_robot_driver_franka::MoveRequest_ & v) -{ -ros::message_operations::Printer< ::sas_robot_driver_franka::MoveRequest_ >::stream(s, "", v); -return s; -} - - -template -bool operator==(const ::sas_robot_driver_franka::MoveRequest_ & lhs, const ::sas_robot_driver_franka::MoveRequest_ & rhs) -{ - return lhs.width == rhs.width && - lhs.speed == rhs.speed; -} - -template -bool operator!=(const ::sas_robot_driver_franka::MoveRequest_ & lhs, const ::sas_robot_driver_franka::MoveRequest_ & rhs) -{ - return !(lhs == rhs); -} - - -} // namespace sas_robot_driver_franka - -namespace ros -{ -namespace message_traits -{ - - - - - -template -struct IsMessage< ::sas_robot_driver_franka::MoveRequest_ > - : TrueType - { }; - -template -struct IsMessage< ::sas_robot_driver_franka::MoveRequest_ const> - : TrueType - { }; - -template -struct IsFixedSize< ::sas_robot_driver_franka::MoveRequest_ > - : TrueType - { }; - -template -struct IsFixedSize< ::sas_robot_driver_franka::MoveRequest_ const> - : TrueType - { }; - -template -struct HasHeader< ::sas_robot_driver_franka::MoveRequest_ > - : FalseType - { }; - -template -struct HasHeader< ::sas_robot_driver_franka::MoveRequest_ const> - : FalseType - { }; - - -template -struct MD5Sum< ::sas_robot_driver_franka::MoveRequest_ > -{ - static const char* value() - { - return "b2d4f46fe020a06d64128c90310c767d"; - } - - static const char* value(const ::sas_robot_driver_franka::MoveRequest_&) { return value(); } - static const uint64_t static_value1 = 0xb2d4f46fe020a06dULL; - static const uint64_t static_value2 = 0x64128c90310c767dULL; -}; - -template -struct DataType< ::sas_robot_driver_franka::MoveRequest_ > -{ - static const char* value() - { - return "sas_robot_driver_franka/MoveRequest"; - } - - static const char* value(const ::sas_robot_driver_franka::MoveRequest_&) { return value(); } -}; - -template -struct Definition< ::sas_robot_driver_franka::MoveRequest_ > -{ - static const char* value() - { - return "float32 width\n" -"float32 speed\n" -; - } - - static const char* value(const ::sas_robot_driver_franka::MoveRequest_&) { return value(); } -}; - -} // namespace message_traits -} // namespace ros - -namespace ros -{ -namespace serialization -{ - - template struct Serializer< ::sas_robot_driver_franka::MoveRequest_ > - { - template 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 -struct Printer< ::sas_robot_driver_franka::MoveRequest_ > -{ - template static void stream(Stream& s, const std::string& indent, const ::sas_robot_driver_franka::MoveRequest_& v) - { - s << indent << "width: "; - Printer::stream(s, indent + " ", v.width); - s << indent << "speed: "; - Printer::stream(s, indent + " ", v.speed); - } -}; - -} // namespace message_operations -} // namespace ros - -#endif // SAS_ROBOT_DRIVER_FRANKA_MESSAGE_MOVEREQUEST_H diff --git a/include/MoveResponse.h b/include/MoveResponse.h deleted file mode 100644 index a1f427d..0000000 --- a/include/MoveResponse.h +++ /dev/null @@ -1,195 +0,0 @@ -// Generated by gencpp from file sas_robot_driver_franka/MoveResponse.msg -// DO NOT EDIT! - - -#ifndef SAS_ROBOT_DRIVER_FRANKA_MESSAGE_MOVERESPONSE_H -#define SAS_ROBOT_DRIVER_FRANKA_MESSAGE_MOVERESPONSE_H - - -#include -#include -#include - -#include -#include -#include -#include - - -namespace sas_robot_driver_franka -{ -template -struct MoveResponse_ -{ - typedef MoveResponse_ Type; - - MoveResponse_() - : success(false) { - } - MoveResponse_(const ContainerAllocator& _alloc) - : success(false) { - (void)_alloc; - } - - - - typedef uint8_t _success_type; - _success_type success; - - - - - - typedef boost::shared_ptr< ::sas_robot_driver_franka::MoveResponse_ > Ptr; - typedef boost::shared_ptr< ::sas_robot_driver_franka::MoveResponse_ const> ConstPtr; - -}; // struct MoveResponse_ - -typedef ::sas_robot_driver_franka::MoveResponse_ > MoveResponse; - -typedef boost::shared_ptr< ::sas_robot_driver_franka::MoveResponse > MoveResponsePtr; -typedef boost::shared_ptr< ::sas_robot_driver_franka::MoveResponse const> MoveResponseConstPtr; - -// constants requiring out of line definition - - - -template -std::ostream& operator<<(std::ostream& s, const ::sas_robot_driver_franka::MoveResponse_ & v) -{ -ros::message_operations::Printer< ::sas_robot_driver_franka::MoveResponse_ >::stream(s, "", v); -return s; -} - - -template -bool operator==(const ::sas_robot_driver_franka::MoveResponse_ & lhs, const ::sas_robot_driver_franka::MoveResponse_ & rhs) -{ - return lhs.success == rhs.success; -} - -template -bool operator!=(const ::sas_robot_driver_franka::MoveResponse_ & lhs, const ::sas_robot_driver_franka::MoveResponse_ & rhs) -{ - return !(lhs == rhs); -} - - -} // namespace sas_robot_driver_franka - -namespace ros -{ -namespace message_traits -{ - - - - - -template -struct IsMessage< ::sas_robot_driver_franka::MoveResponse_ > - : TrueType - { }; - -template -struct IsMessage< ::sas_robot_driver_franka::MoveResponse_ const> - : TrueType - { }; - -template -struct IsFixedSize< ::sas_robot_driver_franka::MoveResponse_ > - : TrueType - { }; - -template -struct IsFixedSize< ::sas_robot_driver_franka::MoveResponse_ const> - : TrueType - { }; - -template -struct HasHeader< ::sas_robot_driver_franka::MoveResponse_ > - : FalseType - { }; - -template -struct HasHeader< ::sas_robot_driver_franka::MoveResponse_ const> - : FalseType - { }; - - -template -struct MD5Sum< ::sas_robot_driver_franka::MoveResponse_ > -{ - static const char* value() - { - return "358e233cde0c8a8bcfea4ce193f8fc15"; - } - - static const char* value(const ::sas_robot_driver_franka::MoveResponse_&) { return value(); } - static const uint64_t static_value1 = 0x358e233cde0c8a8bULL; - static const uint64_t static_value2 = 0xcfea4ce193f8fc15ULL; -}; - -template -struct DataType< ::sas_robot_driver_franka::MoveResponse_ > -{ - static const char* value() - { - return "sas_robot_driver_franka/MoveResponse"; - } - - static const char* value(const ::sas_robot_driver_franka::MoveResponse_&) { return value(); } -}; - -template -struct Definition< ::sas_robot_driver_franka::MoveResponse_ > -{ - static const char* value() - { - return "bool success\n" -; - } - - static const char* value(const ::sas_robot_driver_franka::MoveResponse_&) { return value(); } -}; - -} // namespace message_traits -} // namespace ros - -namespace ros -{ -namespace serialization -{ - - template struct Serializer< ::sas_robot_driver_franka::MoveResponse_ > - { - template inline static void allInOne(Stream& stream, T m) - { - stream.next(m.success); - } - - ROS_DECLARE_ALLINONE_SERIALIZER - }; // struct MoveResponse_ - -} // namespace serialization -} // namespace ros - -namespace ros -{ -namespace message_operations -{ - -template -struct Printer< ::sas_robot_driver_franka::MoveResponse_ > -{ - template static void stream(Stream& s, const std::string& indent, const ::sas_robot_driver_franka::MoveResponse_& v) - { - s << indent << "success: "; - Printer::stream(s, indent + " ", v.success); - } -}; - -} // namespace message_operations -} // namespace ros - -#endif // SAS_ROBOT_DRIVER_FRANKA_MESSAGE_MOVERESPONSE_H diff --git a/src/joint/sas_robot_driver_franka.cpp b/src/joint/sas_robot_driver_franka.cpp index 1f0488d..028a668 100644 --- a/src/joint/sas_robot_driver_franka.cpp +++ b/src/joint/sas_robot_driver_franka.cpp @@ -146,6 +146,10 @@ namespace sas ROS_ERROR_STREAM("["+ros::this_node::getName()+"]::driver interface error on:"+robot_driver_interface_sptr_->get_status_message()); break_loops_->store(true); } + if(!ros::ok()) { + ROS_ERROR_STREAM("["+ros::this_node::getName()+"]::ROS shutdown requested."); + break_loops_->store(true); + } _update_stiffness_contact_and_pose(); return robot_driver_interface_sptr_->get_joint_positions(); }