Gary Servin / ros_lib_indigo

ROS Serial library for Mbed platforms for ROS Indigo Igloo. Check http://wiki.ros.org/rosserial_mbed/ for more information

Dependencies:   BufferedSerial

Dependents:   rosserial_mbed_hello_world_publisher rtos_base_control rosserial_mbed_F64MA ROS-RTOS ... more

ROSSerial_mbed for Indigo Distribution

The Robot Operating System (ROS) is a flexible framework for writing robot software. It is a collection of tools, libraries, and conventions that aim to simplify the task of creating complex and robust robot behavior across a wide variety of robotic platforms.

The rosserial_mbed package allows to write ROS nodes on any mbed enabled devices and have them connected to a running ROS system on your computer using the serial port.

Hello World (example publisher)

Import programrosserial_mbed_hello_world_publisher

rosserial_mbed Hello World

Last commit 19 Apr 2016 by Gary Servin

Running the Code

Now, launch the roscore in a new terminal window:

Quote:

$ roscore

Next, run the rosserial client application that forwards your MBED messages to the rest of ROS. Make sure to use the correct serial port:

Quote:

$ rosrun rosserial_python serial_node.py /dev/ttyACM0

Finally, watch the greetings come in from your MBED by launching a new terminal window and entering :

Quote:

$ rostopic echo chatter

See Also

More examples

Blink

/*
 * rosserial Subscriber Example
 * Blinks an LED on callback
 */
#include "mbed.h"
#include <ros.h>
#include <std_msgs/Empty.h>

ros::NodeHandle nh;
DigitalOut myled(LED1);

void messageCb(const std_msgs::Empty& toggle_msg){
    myled = !myled;   // blink the led
}

ros::Subscriber<std_msgs::Empty> sub("toggle_led", &messageCb);

int main() {
    nh.initNode();
    nh.subscribe(sub);

    while (1) {
        nh.spinOnce();
        wait_ms(1);
    }
}

Push

/*
 * Button Example for Rosserial
 */

#include "mbed.h"
#include <ros.h>
#include <std_msgs/Bool.h>

PinName button = p20;

ros::NodeHandle nh;

std_msgs::Bool pushed_msg;
ros::Publisher pub_button("pushed", &pushed_msg);

DigitalIn button_pin(button);
DigitalOut led_pin(LED1);

bool last_reading;
long last_debounce_time=0;
long debounce_delay=50;
bool published = true;

Timer t;
int main() {
    t.start();
    nh.initNode();
    nh.advertise(pub_button);

    //Enable the pullup resistor on the button
    button_pin.mode(PullUp);

    //The button is a normally button
    last_reading = ! button_pin;

    while (1) {
        bool reading = ! button_pin;

        if (last_reading!= reading) {
            last_debounce_time = t.read_ms();
            published = false;
        }

        //if the button value has not changed for the debounce delay, we know its stable
        if ( !published && (t.read_ms() - last_debounce_time)  > debounce_delay) {
            led_pin = reading;
            pushed_msg.data = reading;
            pub_button.publish(&pushed_msg);
            published = true;
        }

        last_reading = reading;

        nh.spinOnce();
    }
}

Diff: gazebo_msgs/ODEJointProperties.h

Revision:
0:fd24f7ca9688
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/ODEJointProperties.h	Thu Mar 31 14:22:59 2016 +0000
@@ -0,0 +1,508 @@
+#ifndef _ROS_gazebo_msgs_ODEJointProperties_h
+#define _ROS_gazebo_msgs_ODEJointProperties_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace gazebo_msgs
+{
+
+  class ODEJointProperties : public ros::Msg
+  {
+    public:
+      uint8_t damping_length;
+      double st_damping;
+      double * damping;
+      uint8_t hiStop_length;
+      double st_hiStop;
+      double * hiStop;
+      uint8_t loStop_length;
+      double st_loStop;
+      double * loStop;
+      uint8_t erp_length;
+      double st_erp;
+      double * erp;
+      uint8_t cfm_length;
+      double st_cfm;
+      double * cfm;
+      uint8_t stop_erp_length;
+      double st_stop_erp;
+      double * stop_erp;
+      uint8_t stop_cfm_length;
+      double st_stop_cfm;
+      double * stop_cfm;
+      uint8_t fudge_factor_length;
+      double st_fudge_factor;
+      double * fudge_factor;
+      uint8_t fmax_length;
+      double st_fmax;
+      double * fmax;
+      uint8_t vel_length;
+      double st_vel;
+      double * vel;
+
+    ODEJointProperties():
+      damping_length(0), damping(NULL),
+      hiStop_length(0), hiStop(NULL),
+      loStop_length(0), loStop(NULL),
+      erp_length(0), erp(NULL),
+      cfm_length(0), cfm(NULL),
+      stop_erp_length(0), stop_erp(NULL),
+      stop_cfm_length(0), stop_cfm(NULL),
+      fudge_factor_length(0), fudge_factor(NULL),
+      fmax_length(0), fmax(NULL),
+      vel_length(0), vel(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = damping_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < damping_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_dampingi;
+      u_dampingi.real = this->damping[i];
+      *(outbuffer + offset + 0) = (u_dampingi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_dampingi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_dampingi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_dampingi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_dampingi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_dampingi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_dampingi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_dampingi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->damping[i]);
+      }
+      *(outbuffer + offset++) = hiStop_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < hiStop_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_hiStopi;
+      u_hiStopi.real = this->hiStop[i];
+      *(outbuffer + offset + 0) = (u_hiStopi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_hiStopi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_hiStopi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_hiStopi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_hiStopi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_hiStopi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_hiStopi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_hiStopi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->hiStop[i]);
+      }
+      *(outbuffer + offset++) = loStop_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < loStop_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_loStopi;
+      u_loStopi.real = this->loStop[i];
+      *(outbuffer + offset + 0) = (u_loStopi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_loStopi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_loStopi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_loStopi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_loStopi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_loStopi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_loStopi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_loStopi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->loStop[i]);
+      }
+      *(outbuffer + offset++) = erp_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < erp_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_erpi;
+      u_erpi.real = this->erp[i];
+      *(outbuffer + offset + 0) = (u_erpi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_erpi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_erpi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_erpi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_erpi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_erpi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_erpi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_erpi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->erp[i]);
+      }
+      *(outbuffer + offset++) = cfm_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < cfm_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_cfmi;
+      u_cfmi.real = this->cfm[i];
+      *(outbuffer + offset + 0) = (u_cfmi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_cfmi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_cfmi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_cfmi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_cfmi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_cfmi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_cfmi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_cfmi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->cfm[i]);
+      }
+      *(outbuffer + offset++) = stop_erp_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < stop_erp_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_stop_erpi;
+      u_stop_erpi.real = this->stop_erp[i];
+      *(outbuffer + offset + 0) = (u_stop_erpi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_stop_erpi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_stop_erpi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_stop_erpi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_stop_erpi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_stop_erpi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_stop_erpi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_stop_erpi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->stop_erp[i]);
+      }
+      *(outbuffer + offset++) = stop_cfm_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < stop_cfm_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_stop_cfmi;
+      u_stop_cfmi.real = this->stop_cfm[i];
+      *(outbuffer + offset + 0) = (u_stop_cfmi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_stop_cfmi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_stop_cfmi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_stop_cfmi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_stop_cfmi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_stop_cfmi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_stop_cfmi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_stop_cfmi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->stop_cfm[i]);
+      }
+      *(outbuffer + offset++) = fudge_factor_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < fudge_factor_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_fudge_factori;
+      u_fudge_factori.real = this->fudge_factor[i];
+      *(outbuffer + offset + 0) = (u_fudge_factori.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_fudge_factori.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_fudge_factori.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_fudge_factori.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_fudge_factori.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_fudge_factori.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_fudge_factori.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_fudge_factori.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->fudge_factor[i]);
+      }
+      *(outbuffer + offset++) = fmax_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < fmax_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_fmaxi;
+      u_fmaxi.real = this->fmax[i];
+      *(outbuffer + offset + 0) = (u_fmaxi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_fmaxi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_fmaxi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_fmaxi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_fmaxi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_fmaxi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_fmaxi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_fmaxi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->fmax[i]);
+      }
+      *(outbuffer + offset++) = vel_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < vel_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_veli;
+      u_veli.real = this->vel[i];
+      *(outbuffer + offset + 0) = (u_veli.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_veli.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_veli.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_veli.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_veli.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_veli.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_veli.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_veli.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->vel[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t damping_lengthT = *(inbuffer + offset++);
+      if(damping_lengthT > damping_length)
+        this->damping = (double*)realloc(this->damping, damping_lengthT * sizeof(double));
+      offset += 3;
+      damping_length = damping_lengthT;
+      for( uint8_t i = 0; i < damping_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_damping;
+      u_st_damping.base = 0;
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_damping.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_damping = u_st_damping.real;
+      offset += sizeof(this->st_damping);
+        memcpy( &(this->damping[i]), &(this->st_damping), sizeof(double));
+      }
+      uint8_t hiStop_lengthT = *(inbuffer + offset++);
+      if(hiStop_lengthT > hiStop_length)
+        this->hiStop = (double*)realloc(this->hiStop, hiStop_lengthT * sizeof(double));
+      offset += 3;
+      hiStop_length = hiStop_lengthT;
+      for( uint8_t i = 0; i < hiStop_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_hiStop;
+      u_st_hiStop.base = 0;
+      u_st_hiStop.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_hiStop.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_hiStop.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_hiStop.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_hiStop.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_hiStop.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_hiStop.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_hiStop.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_hiStop = u_st_hiStop.real;
+      offset += sizeof(this->st_hiStop);
+        memcpy( &(this->hiStop[i]), &(this->st_hiStop), sizeof(double));
+      }
+      uint8_t loStop_lengthT = *(inbuffer + offset++);
+      if(loStop_lengthT > loStop_length)
+        this->loStop = (double*)realloc(this->loStop, loStop_lengthT * sizeof(double));
+      offset += 3;
+      loStop_length = loStop_lengthT;
+      for( uint8_t i = 0; i < loStop_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_loStop;
+      u_st_loStop.base = 0;
+      u_st_loStop.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_loStop.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_loStop.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_loStop.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_loStop.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_loStop.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_loStop.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_loStop.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_loStop = u_st_loStop.real;
+      offset += sizeof(this->st_loStop);
+        memcpy( &(this->loStop[i]), &(this->st_loStop), sizeof(double));
+      }
+      uint8_t erp_lengthT = *(inbuffer + offset++);
+      if(erp_lengthT > erp_length)
+        this->erp = (double*)realloc(this->erp, erp_lengthT * sizeof(double));
+      offset += 3;
+      erp_length = erp_lengthT;
+      for( uint8_t i = 0; i < erp_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_erp;
+      u_st_erp.base = 0;
+      u_st_erp.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_erp.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_erp.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_erp.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_erp.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_erp.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_erp.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_erp.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_erp = u_st_erp.real;
+      offset += sizeof(this->st_erp);
+        memcpy( &(this->erp[i]), &(this->st_erp), sizeof(double));
+      }
+      uint8_t cfm_lengthT = *(inbuffer + offset++);
+      if(cfm_lengthT > cfm_length)
+        this->cfm = (double*)realloc(this->cfm, cfm_lengthT * sizeof(double));
+      offset += 3;
+      cfm_length = cfm_lengthT;
+      for( uint8_t i = 0; i < cfm_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_cfm;
+      u_st_cfm.base = 0;
+      u_st_cfm.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_cfm.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_cfm.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_cfm.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_cfm.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_cfm.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_cfm.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_cfm.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_cfm = u_st_cfm.real;
+      offset += sizeof(this->st_cfm);
+        memcpy( &(this->cfm[i]), &(this->st_cfm), sizeof(double));
+      }
+      uint8_t stop_erp_lengthT = *(inbuffer + offset++);
+      if(stop_erp_lengthT > stop_erp_length)
+        this->stop_erp = (double*)realloc(this->stop_erp, stop_erp_lengthT * sizeof(double));
+      offset += 3;
+      stop_erp_length = stop_erp_lengthT;
+      for( uint8_t i = 0; i < stop_erp_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_stop_erp;
+      u_st_stop_erp.base = 0;
+      u_st_stop_erp.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_stop_erp.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_stop_erp.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_stop_erp.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_stop_erp.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_stop_erp.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_stop_erp.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_stop_erp.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_stop_erp = u_st_stop_erp.real;
+      offset += sizeof(this->st_stop_erp);
+        memcpy( &(this->stop_erp[i]), &(this->st_stop_erp), sizeof(double));
+      }
+      uint8_t stop_cfm_lengthT = *(inbuffer + offset++);
+      if(stop_cfm_lengthT > stop_cfm_length)
+        this->stop_cfm = (double*)realloc(this->stop_cfm, stop_cfm_lengthT * sizeof(double));
+      offset += 3;
+      stop_cfm_length = stop_cfm_lengthT;
+      for( uint8_t i = 0; i < stop_cfm_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_stop_cfm;
+      u_st_stop_cfm.base = 0;
+      u_st_stop_cfm.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_stop_cfm.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_stop_cfm.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_stop_cfm.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_stop_cfm.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_stop_cfm.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_stop_cfm.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_stop_cfm.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_stop_cfm = u_st_stop_cfm.real;
+      offset += sizeof(this->st_stop_cfm);
+        memcpy( &(this->stop_cfm[i]), &(this->st_stop_cfm), sizeof(double));
+      }
+      uint8_t fudge_factor_lengthT = *(inbuffer + offset++);
+      if(fudge_factor_lengthT > fudge_factor_length)
+        this->fudge_factor = (double*)realloc(this->fudge_factor, fudge_factor_lengthT * sizeof(double));
+      offset += 3;
+      fudge_factor_length = fudge_factor_lengthT;
+      for( uint8_t i = 0; i < fudge_factor_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_fudge_factor;
+      u_st_fudge_factor.base = 0;
+      u_st_fudge_factor.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_fudge_factor.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_fudge_factor.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_fudge_factor.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_fudge_factor.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_fudge_factor.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_fudge_factor.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_fudge_factor.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_fudge_factor = u_st_fudge_factor.real;
+      offset += sizeof(this->st_fudge_factor);
+        memcpy( &(this->fudge_factor[i]), &(this->st_fudge_factor), sizeof(double));
+      }
+      uint8_t fmax_lengthT = *(inbuffer + offset++);
+      if(fmax_lengthT > fmax_length)
+        this->fmax = (double*)realloc(this->fmax, fmax_lengthT * sizeof(double));
+      offset += 3;
+      fmax_length = fmax_lengthT;
+      for( uint8_t i = 0; i < fmax_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_fmax;
+      u_st_fmax.base = 0;
+      u_st_fmax.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_fmax.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_fmax.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_fmax.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_fmax.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_fmax.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_fmax.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_fmax.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_fmax = u_st_fmax.real;
+      offset += sizeof(this->st_fmax);
+        memcpy( &(this->fmax[i]), &(this->st_fmax), sizeof(double));
+      }
+      uint8_t vel_lengthT = *(inbuffer + offset++);
+      if(vel_lengthT > vel_length)
+        this->vel = (double*)realloc(this->vel, vel_lengthT * sizeof(double));
+      offset += 3;
+      vel_length = vel_lengthT;
+      for( uint8_t i = 0; i < vel_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_vel;
+      u_st_vel.base = 0;
+      u_st_vel.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_vel.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_vel.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_vel.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_vel.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_vel.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_vel.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_vel.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_vel = u_st_vel.real;
+      offset += sizeof(this->st_vel);
+        memcpy( &(this->vel[i]), &(this->st_vel), sizeof(double));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "gazebo_msgs/ODEJointProperties"; };
+    const char * getMD5(){ return "1b744c32a920af979f53afe2f9c3511f"; };
+
+  };
+
+}
+#endif
\ No newline at end of file