initial commit

CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(sas_robot_driver_franka_interfaces)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(geometry_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+
+rosidl_generate_interfaces(${PROJECT_NAME}
+        "msg/GripperState.msg"
+        "srv/Move.srv"
+        "srv/Grasp.srv"
+)
+
+install(
+        DIRECTORY msg
+        DESTINATION share/${PROJECT_NAME}/msg
+)
+
+install(
+        DIRECTORY srv
+        DESTINATION share/${PROJECT_NAME}/srv
+)
+
+
+
+
+ament_package()

msg/GripperState.msg

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+float32 width
+float32 max_width
+bool is_grasped
+uint16 temperature
+uint64 duration_ms

package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>sas_robot_driver_franka_interfaces</name>
+  <version>0.0.0</version>
+  <description>sas_driver_franka interfaces package</description>
+  <maintainer email="qlin1806@gmail.com">qlin</maintainer>
+  <license>TODO: License declaration</license>
+
+  <depend>std_msgs</depend>
+  <depend>geometry_msgs</depend>
+
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <build_depend>rosidl_default_generators</build_depend>
+  <member_of_group>rosidl_interface_packages</member_of_group>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <exec_depend>rosidl_default_runtime</exec_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

srv/Grasp.srv

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+float32 width
+float32 speed
+float32 force
+float32 epsilon_inner
+float32 epsilon_outer
+---
+bool success

srv/Move.srv

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+float32 width
+float32 speed
+---
+bool success