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

Dependencies:   BufferedSerial

Dependents:   rosserial_mbed_hello_world_publisher_jade

ROSSerial_mbed for Jade 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_jade

rosserial_mbed Hello World example for jade distribution

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();
    }
}

Files at this revision

API Documentation at this revision

Comitter:
garyservin
Date:
Thu Mar 31 23:23:15 2016 +0000
Commit message:
ROS Serial library for Mbed platforms for ROS Jade Turtle. Check http://wiki.ros.org/rosserial_mbed/ for more information.

Changed in this revision

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diff -r 000000000000 -r a906bb7c7831 BufferedSerial.lib
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/BufferedSerial.lib	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,1 @@
+http://mbed.org/users/sam_grove/code/BufferedSerial/#a0d37088b405
diff -r 000000000000 -r a906bb7c7831 MbedHardware.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/MbedHardware.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,60 @@
+/*
+ * MbedHardware
+ *
+ *  Created on: Aug 17, 2011
+ *      Author: nucho
+ */
+
+#ifndef ROS_MBED_HARDWARE_H_
+#define ROS_MBED_HARDWARE_H_
+
+#include "mbed.h"
+
+#include "BufferedSerial.h"
+
+class MbedHardware {
+  public:
+    MbedHardware(PinName tx, PinName rx, long baud = 57600)
+      :iostream(tx, rx){
+      baud_ = baud;
+      t.start();
+    }
+
+    MbedHardware()
+      :iostream(USBTX, USBRX) {
+        baud_ = 57600;
+        t.start();
+    }
+
+    void setBaud(long baud){
+      this->baud_= baud;
+    }
+
+    int getBaud(){return baud_;}
+
+    void init(){
+        iostream.baud(baud_);
+    }
+
+    int read(){
+        if (iostream.readable()) {
+            return iostream.getc();
+        } else {
+            return -1;
+        }
+    };
+    void write(uint8_t* data, int length) {
+        for (int i=0; i<length; i++)
+             iostream.putc(data[i]);
+    }
+
+    unsigned long time(){return t.read_ms();}
+
+protected:
+    BufferedSerial iostream;
+    long baud_;
+    Timer t;
+};
+
+
+#endif /* ROS_MBED_HARDWARE_H_ */
diff -r 000000000000 -r a906bb7c7831 actionlib/TestAction.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib/TestAction.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_actionlib_TestAction_h
+#define _ROS_actionlib_TestAction_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "actionlib/TestActionGoal.h"
+#include "actionlib/TestActionResult.h"
+#include "actionlib/TestActionFeedback.h"
+
+namespace actionlib
+{
+
+  class TestAction : public ros::Msg
+  {
+    public:
+      actionlib::TestActionGoal action_goal;
+      actionlib::TestActionResult action_result;
+      actionlib::TestActionFeedback action_feedback;
+
+    TestAction():
+      action_goal(),
+      action_result(),
+      action_feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->action_goal.serialize(outbuffer + offset);
+      offset += this->action_result.serialize(outbuffer + offset);
+      offset += this->action_feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->action_goal.deserialize(inbuffer + offset);
+      offset += this->action_result.deserialize(inbuffer + offset);
+      offset += this->action_feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestAction"; };
+    const char * getMD5(){ return "991e87a72802262dfbe5d1b3cf6efc9a"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib/TestActionFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib/TestActionFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_actionlib_TestActionFeedback_h
+#define _ROS_actionlib_TestActionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "actionlib/TestFeedback.h"
+
+namespace actionlib
+{
+
+  class TestActionFeedback : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalStatus status;
+      actionlib::TestFeedback feedback;
+
+    TestActionFeedback():
+      header(),
+      status(),
+      feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestActionFeedback"; };
+    const char * getMD5(){ return "6d3d0bf7fb3dda24779c010a9f3eb7cb"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib/TestActionGoal.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib/TestActionGoal.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_actionlib_TestActionGoal_h
+#define _ROS_actionlib_TestActionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalID.h"
+#include "actionlib/TestGoal.h"
+
+namespace actionlib
+{
+
+  class TestActionGoal : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalID goal_id;
+      actionlib::TestGoal goal;
+
+    TestActionGoal():
+      header(),
+      goal_id(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->goal_id.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestActionGoal"; };
+    const char * getMD5(){ return "348369c5b403676156094e8c159720bf"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib/TestActionResult.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib/TestActionResult.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_actionlib_TestActionResult_h
+#define _ROS_actionlib_TestActionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "actionlib/TestResult.h"
+
+namespace actionlib
+{
+
+  class TestActionResult : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalStatus status;
+      actionlib::TestResult result;
+
+    TestActionResult():
+      header(),
+      status(),
+      result()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->result.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->result.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestActionResult"; };
+    const char * getMD5(){ return "3d669e3a63aa986c667ea7b0f46ce85e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib/TestFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib/TestFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,61 @@
+#ifndef _ROS_actionlib_TestFeedback_h
+#define _ROS_actionlib_TestFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib
+{
+
+  class TestFeedback : public ros::Msg
+  {
+    public:
+      int32_t feedback;
+
+    TestFeedback():
+      feedback(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_feedback;
+      u_feedback.real = this->feedback;
+      *(outbuffer + offset + 0) = (u_feedback.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_feedback.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_feedback.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_feedback.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->feedback);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_feedback;
+      u_feedback.base = 0;
+      u_feedback.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_feedback.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_feedback.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_feedback.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->feedback = u_feedback.real;
+      offset += sizeof(this->feedback);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestFeedback"; };
+    const char * getMD5(){ return "49ceb5b32ea3af22073ede4a0328249e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib/TestGoal.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib/TestGoal.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,61 @@
+#ifndef _ROS_actionlib_TestGoal_h
+#define _ROS_actionlib_TestGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib
+{
+
+  class TestGoal : public ros::Msg
+  {
+    public:
+      int32_t goal;
+
+    TestGoal():
+      goal(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_goal;
+      u_goal.real = this->goal;
+      *(outbuffer + offset + 0) = (u_goal.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_goal.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_goal.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_goal.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->goal);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_goal;
+      u_goal.base = 0;
+      u_goal.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_goal.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_goal.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_goal.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->goal = u_goal.real;
+      offset += sizeof(this->goal);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestGoal"; };
+    const char * getMD5(){ return "18df0149936b7aa95588e3862476ebde"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib/TestRequestAction.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib/TestRequestAction.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_actionlib_TestRequestAction_h
+#define _ROS_actionlib_TestRequestAction_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "actionlib/TestRequestActionGoal.h"
+#include "actionlib/TestRequestActionResult.h"
+#include "actionlib/TestRequestActionFeedback.h"
+
+namespace actionlib
+{
+
+  class TestRequestAction : public ros::Msg
+  {
+    public:
+      actionlib::TestRequestActionGoal action_goal;
+      actionlib::TestRequestActionResult action_result;
+      actionlib::TestRequestActionFeedback action_feedback;
+
+    TestRequestAction():
+      action_goal(),
+      action_result(),
+      action_feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->action_goal.serialize(outbuffer + offset);
+      offset += this->action_result.serialize(outbuffer + offset);
+      offset += this->action_feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->action_goal.deserialize(inbuffer + offset);
+      offset += this->action_result.deserialize(inbuffer + offset);
+      offset += this->action_feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestRequestAction"; };
+    const char * getMD5(){ return "dc44b1f4045dbf0d1db54423b3b86b30"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib/TestRequestActionFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib/TestRequestActionFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_actionlib_TestRequestActionFeedback_h
+#define _ROS_actionlib_TestRequestActionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "actionlib/TestRequestFeedback.h"
+
+namespace actionlib
+{
+
+  class TestRequestActionFeedback : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalStatus status;
+      actionlib::TestRequestFeedback feedback;
+
+    TestRequestActionFeedback():
+      header(),
+      status(),
+      feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestRequestActionFeedback"; };
+    const char * getMD5(){ return "aae20e09065c3809e8a8e87c4c8953fd"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib/TestRequestActionGoal.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib/TestRequestActionGoal.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_actionlib_TestRequestActionGoal_h
+#define _ROS_actionlib_TestRequestActionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalID.h"
+#include "actionlib/TestRequestGoal.h"
+
+namespace actionlib
+{
+
+  class TestRequestActionGoal : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalID goal_id;
+      actionlib::TestRequestGoal goal;
+
+    TestRequestActionGoal():
+      header(),
+      goal_id(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->goal_id.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestRequestActionGoal"; };
+    const char * getMD5(){ return "1889556d3fef88f821c7cb004e4251f3"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib/TestRequestActionResult.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib/TestRequestActionResult.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_actionlib_TestRequestActionResult_h
+#define _ROS_actionlib_TestRequestActionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "actionlib/TestRequestResult.h"
+
+namespace actionlib
+{
+
+  class TestRequestActionResult : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalStatus status;
+      actionlib::TestRequestResult result;
+
+    TestRequestActionResult():
+      header(),
+      status(),
+      result()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->result.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->result.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestRequestActionResult"; };
+    const char * getMD5(){ return "0476d1fdf437a3a6e7d6d0e9f5561298"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib/TestRequestFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib/TestRequestFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,38 @@
+#ifndef _ROS_actionlib_TestRequestFeedback_h
+#define _ROS_actionlib_TestRequestFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib
+{
+
+  class TestRequestFeedback : public ros::Msg
+  {
+    public:
+
+    TestRequestFeedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestRequestFeedback"; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib/TestRequestGoal.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib/TestRequestGoal.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,207 @@
+#ifndef _ROS_actionlib_TestRequestGoal_h
+#define _ROS_actionlib_TestRequestGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/duration.h"
+
+namespace actionlib
+{
+
+  class TestRequestGoal : public ros::Msg
+  {
+    public:
+      int32_t terminate_status;
+      bool ignore_cancel;
+      const char* result_text;
+      int32_t the_result;
+      bool is_simple_client;
+      ros::Duration delay_accept;
+      ros::Duration delay_terminate;
+      ros::Duration pause_status;
+      enum { TERMINATE_SUCCESS =  0 };
+      enum { TERMINATE_ABORTED =  1 };
+      enum { TERMINATE_REJECTED =  2 };
+      enum { TERMINATE_LOSE =  3 };
+      enum { TERMINATE_DROP =  4 };
+      enum { TERMINATE_EXCEPTION =  5 };
+
+    TestRequestGoal():
+      terminate_status(0),
+      ignore_cancel(0),
+      result_text(""),
+      the_result(0),
+      is_simple_client(0),
+      delay_accept(),
+      delay_terminate(),
+      pause_status()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_terminate_status;
+      u_terminate_status.real = this->terminate_status;
+      *(outbuffer + offset + 0) = (u_terminate_status.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_terminate_status.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_terminate_status.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_terminate_status.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->terminate_status);
+      union {
+        bool real;
+        uint8_t base;
+      } u_ignore_cancel;
+      u_ignore_cancel.real = this->ignore_cancel;
+      *(outbuffer + offset + 0) = (u_ignore_cancel.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->ignore_cancel);
+      uint32_t length_result_text = strlen(this->result_text);
+      memcpy(outbuffer + offset, &length_result_text, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->result_text, length_result_text);
+      offset += length_result_text;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_the_result;
+      u_the_result.real = this->the_result;
+      *(outbuffer + offset + 0) = (u_the_result.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_the_result.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_the_result.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_the_result.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->the_result);
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_simple_client;
+      u_is_simple_client.real = this->is_simple_client;
+      *(outbuffer + offset + 0) = (u_is_simple_client.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->is_simple_client);
+      *(outbuffer + offset + 0) = (this->delay_accept.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->delay_accept.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->delay_accept.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->delay_accept.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->delay_accept.sec);
+      *(outbuffer + offset + 0) = (this->delay_accept.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->delay_accept.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->delay_accept.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->delay_accept.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->delay_accept.nsec);
+      *(outbuffer + offset + 0) = (this->delay_terminate.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->delay_terminate.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->delay_terminate.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->delay_terminate.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->delay_terminate.sec);
+      *(outbuffer + offset + 0) = (this->delay_terminate.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->delay_terminate.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->delay_terminate.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->delay_terminate.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->delay_terminate.nsec);
+      *(outbuffer + offset + 0) = (this->pause_status.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->pause_status.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->pause_status.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->pause_status.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->pause_status.sec);
+      *(outbuffer + offset + 0) = (this->pause_status.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->pause_status.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->pause_status.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->pause_status.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->pause_status.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_terminate_status;
+      u_terminate_status.base = 0;
+      u_terminate_status.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_terminate_status.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_terminate_status.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_terminate_status.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->terminate_status = u_terminate_status.real;
+      offset += sizeof(this->terminate_status);
+      union {
+        bool real;
+        uint8_t base;
+      } u_ignore_cancel;
+      u_ignore_cancel.base = 0;
+      u_ignore_cancel.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->ignore_cancel = u_ignore_cancel.real;
+      offset += sizeof(this->ignore_cancel);
+      uint32_t length_result_text;
+      memcpy(&length_result_text, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_result_text; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_result_text-1]=0;
+      this->result_text = (char *)(inbuffer + offset-1);
+      offset += length_result_text;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_the_result;
+      u_the_result.base = 0;
+      u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->the_result = u_the_result.real;
+      offset += sizeof(this->the_result);
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_simple_client;
+      u_is_simple_client.base = 0;
+      u_is_simple_client.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->is_simple_client = u_is_simple_client.real;
+      offset += sizeof(this->is_simple_client);
+      this->delay_accept.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->delay_accept.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->delay_accept.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->delay_accept.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->delay_accept.sec);
+      this->delay_accept.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->delay_accept.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->delay_accept.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->delay_accept.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->delay_accept.nsec);
+      this->delay_terminate.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->delay_terminate.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->delay_terminate.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->delay_terminate.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->delay_terminate.sec);
+      this->delay_terminate.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->delay_terminate.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->delay_terminate.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->delay_terminate.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->delay_terminate.nsec);
+      this->pause_status.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->pause_status.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->pause_status.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->pause_status.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->pause_status.sec);
+      this->pause_status.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->pause_status.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->pause_status.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->pause_status.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->pause_status.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestRequestGoal"; };
+    const char * getMD5(){ return "db5d00ba98302d6c6dd3737e9a03ceea"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib/TestRequestResult.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib/TestRequestResult.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,78 @@
+#ifndef _ROS_actionlib_TestRequestResult_h
+#define _ROS_actionlib_TestRequestResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib
+{
+
+  class TestRequestResult : public ros::Msg
+  {
+    public:
+      int32_t the_result;
+      bool is_simple_server;
+
+    TestRequestResult():
+      the_result(0),
+      is_simple_server(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_the_result;
+      u_the_result.real = this->the_result;
+      *(outbuffer + offset + 0) = (u_the_result.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_the_result.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_the_result.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_the_result.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->the_result);
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_simple_server;
+      u_is_simple_server.real = this->is_simple_server;
+      *(outbuffer + offset + 0) = (u_is_simple_server.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->is_simple_server);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_the_result;
+      u_the_result.base = 0;
+      u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_the_result.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->the_result = u_the_result.real;
+      offset += sizeof(this->the_result);
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_simple_server;
+      u_is_simple_server.base = 0;
+      u_is_simple_server.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->is_simple_server = u_is_simple_server.real;
+      offset += sizeof(this->is_simple_server);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestRequestResult"; };
+    const char * getMD5(){ return "61c2364524499c7c5017e2f3fce7ba06"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib/TestResult.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib/TestResult.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,61 @@
+#ifndef _ROS_actionlib_TestResult_h
+#define _ROS_actionlib_TestResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib
+{
+
+  class TestResult : public ros::Msg
+  {
+    public:
+      int32_t result;
+
+    TestResult():
+      result(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_result;
+      u_result.real = this->result;
+      *(outbuffer + offset + 0) = (u_result.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_result.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_result.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_result.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->result);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_result;
+      u_result.base = 0;
+      u_result.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_result.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_result.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_result.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->result = u_result.real;
+      offset += sizeof(this->result);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TestResult"; };
+    const char * getMD5(){ return "034a8e20d6a306665e3a5b340fab3f09"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib/TwoIntsAction.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib/TwoIntsAction.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_actionlib_TwoIntsAction_h
+#define _ROS_actionlib_TwoIntsAction_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "actionlib/TwoIntsActionGoal.h"
+#include "actionlib/TwoIntsActionResult.h"
+#include "actionlib/TwoIntsActionFeedback.h"
+
+namespace actionlib
+{
+
+  class TwoIntsAction : public ros::Msg
+  {
+    public:
+      actionlib::TwoIntsActionGoal action_goal;
+      actionlib::TwoIntsActionResult action_result;
+      actionlib::TwoIntsActionFeedback action_feedback;
+
+    TwoIntsAction():
+      action_goal(),
+      action_result(),
+      action_feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->action_goal.serialize(outbuffer + offset);
+      offset += this->action_result.serialize(outbuffer + offset);
+      offset += this->action_feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->action_goal.deserialize(inbuffer + offset);
+      offset += this->action_result.deserialize(inbuffer + offset);
+      offset += this->action_feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TwoIntsAction"; };
+    const char * getMD5(){ return "6d1aa538c4bd6183a2dfb7fcac41ee50"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib/TwoIntsActionFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib/TwoIntsActionFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_actionlib_TwoIntsActionFeedback_h
+#define _ROS_actionlib_TwoIntsActionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "actionlib/TwoIntsFeedback.h"
+
+namespace actionlib
+{
+
+  class TwoIntsActionFeedback : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalStatus status;
+      actionlib::TwoIntsFeedback feedback;
+
+    TwoIntsActionFeedback():
+      header(),
+      status(),
+      feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TwoIntsActionFeedback"; };
+    const char * getMD5(){ return "aae20e09065c3809e8a8e87c4c8953fd"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib/TwoIntsActionGoal.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib/TwoIntsActionGoal.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_actionlib_TwoIntsActionGoal_h
+#define _ROS_actionlib_TwoIntsActionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalID.h"
+#include "actionlib/TwoIntsGoal.h"
+
+namespace actionlib
+{
+
+  class TwoIntsActionGoal : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalID goal_id;
+      actionlib::TwoIntsGoal goal;
+
+    TwoIntsActionGoal():
+      header(),
+      goal_id(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->goal_id.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TwoIntsActionGoal"; };
+    const char * getMD5(){ return "684a2db55d6ffb8046fb9d6764ce0860"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib/TwoIntsActionResult.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib/TwoIntsActionResult.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_actionlib_TwoIntsActionResult_h
+#define _ROS_actionlib_TwoIntsActionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "actionlib/TwoIntsResult.h"
+
+namespace actionlib
+{
+
+  class TwoIntsActionResult : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalStatus status;
+      actionlib::TwoIntsResult result;
+
+    TwoIntsActionResult():
+      header(),
+      status(),
+      result()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->result.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->result.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TwoIntsActionResult"; };
+    const char * getMD5(){ return "3ba7dea8b8cddcae4528ade4ef74b6e7"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib/TwoIntsFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib/TwoIntsFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,38 @@
+#ifndef _ROS_actionlib_TwoIntsFeedback_h
+#define _ROS_actionlib_TwoIntsFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib
+{
+
+  class TwoIntsFeedback : public ros::Msg
+  {
+    public:
+
+    TwoIntsFeedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TwoIntsFeedback"; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib/TwoIntsGoal.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib/TwoIntsGoal.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,100 @@
+#ifndef _ROS_actionlib_TwoIntsGoal_h
+#define _ROS_actionlib_TwoIntsGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib
+{
+
+  class TwoIntsGoal : public ros::Msg
+  {
+    public:
+      int64_t a;
+      int64_t b;
+
+    TwoIntsGoal():
+      a(0),
+      b(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_a;
+      u_a.real = this->a;
+      *(outbuffer + offset + 0) = (u_a.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_a.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_a.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_a.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_a.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_a.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_a.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_a.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->a);
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_b;
+      u_b.real = this->b;
+      *(outbuffer + offset + 0) = (u_b.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_b.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_b.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_b.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_b.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_b.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_b.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_b.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->b);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_a;
+      u_a.base = 0;
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->a = u_a.real;
+      offset += sizeof(this->a);
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_b;
+      u_b.base = 0;
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->b = u_b.real;
+      offset += sizeof(this->b);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TwoIntsGoal"; };
+    const char * getMD5(){ return "36d09b846be0b371c5f190354dd3153e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib/TwoIntsResult.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib/TwoIntsResult.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,69 @@
+#ifndef _ROS_actionlib_TwoIntsResult_h
+#define _ROS_actionlib_TwoIntsResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib
+{
+
+  class TwoIntsResult : public ros::Msg
+  {
+    public:
+      int64_t sum;
+
+    TwoIntsResult():
+      sum(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_sum;
+      u_sum.real = this->sum;
+      *(outbuffer + offset + 0) = (u_sum.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_sum.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_sum.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_sum.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_sum.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_sum.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_sum.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_sum.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->sum);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_sum;
+      u_sum.base = 0;
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->sum = u_sum.real;
+      offset += sizeof(this->sum);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib/TwoIntsResult"; };
+    const char * getMD5(){ return "b88405221c77b1878a3cbbfff53428d7"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib_msgs/GoalID.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib_msgs/GoalID.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,77 @@
+#ifndef _ROS_actionlib_msgs_GoalID_h
+#define _ROS_actionlib_msgs_GoalID_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/time.h"
+
+namespace actionlib_msgs
+{
+
+  class GoalID : public ros::Msg
+  {
+    public:
+      ros::Time stamp;
+      const char* id;
+
+    GoalID():
+      stamp(),
+      id("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->stamp.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp.sec);
+      *(outbuffer + offset + 0) = (this->stamp.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp.nsec);
+      uint32_t length_id = strlen(this->id);
+      memcpy(outbuffer + offset, &length_id, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->id, length_id);
+      offset += length_id;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->stamp.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp.sec);
+      this->stamp.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp.nsec);
+      uint32_t length_id;
+      memcpy(&length_id, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_id-1]=0;
+      this->id = (char *)(inbuffer + offset-1);
+      offset += length_id;
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_msgs/GoalID"; };
+    const char * getMD5(){ return "302881f31927c1df708a2dbab0e80ee8"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib_msgs/GoalStatus.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib_msgs/GoalStatus.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,75 @@
+#ifndef _ROS_actionlib_msgs_GoalStatus_h
+#define _ROS_actionlib_msgs_GoalStatus_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "actionlib_msgs/GoalID.h"
+
+namespace actionlib_msgs
+{
+
+  class GoalStatus : public ros::Msg
+  {
+    public:
+      actionlib_msgs::GoalID goal_id;
+      uint8_t status;
+      const char* text;
+      enum { PENDING =  0    };
+      enum { ACTIVE =  1    };
+      enum { PREEMPTED =  2    };
+      enum { SUCCEEDED =  3    };
+      enum { ABORTED =  4    };
+      enum { REJECTED =  5    };
+      enum { PREEMPTING =  6    };
+      enum { RECALLING =  7    };
+      enum { RECALLED =  8    };
+      enum { LOST =  9    };
+
+    GoalStatus():
+      goal_id(),
+      status(0),
+      text("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->goal_id.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->status >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->status);
+      uint32_t length_text = strlen(this->text);
+      memcpy(outbuffer + offset, &length_text, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->text, length_text);
+      offset += length_text;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      this->status =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->status);
+      uint32_t length_text;
+      memcpy(&length_text, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_text; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_text-1]=0;
+      this->text = (char *)(inbuffer + offset-1);
+      offset += length_text;
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_msgs/GoalStatus"; };
+    const char * getMD5(){ return "d388f9b87b3c471f784434d671988d4a"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib_msgs/GoalStatusArray.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib_msgs/GoalStatusArray.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,64 @@
+#ifndef _ROS_actionlib_msgs_GoalStatusArray_h
+#define _ROS_actionlib_msgs_GoalStatusArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+
+namespace actionlib_msgs
+{
+
+  class GoalStatusArray : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t status_list_length;
+      actionlib_msgs::GoalStatus st_status_list;
+      actionlib_msgs::GoalStatus * status_list;
+
+    GoalStatusArray():
+      header(),
+      status_list_length(0), status_list(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = status_list_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < status_list_length; i++){
+      offset += this->status_list[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t status_list_lengthT = *(inbuffer + offset++);
+      if(status_list_lengthT > status_list_length)
+        this->status_list = (actionlib_msgs::GoalStatus*)realloc(this->status_list, status_list_lengthT * sizeof(actionlib_msgs::GoalStatus));
+      offset += 3;
+      status_list_length = status_list_lengthT;
+      for( uint8_t i = 0; i < status_list_length; i++){
+      offset += this->st_status_list.deserialize(inbuffer + offset);
+        memcpy( &(this->status_list[i]), &(this->st_status_list), sizeof(actionlib_msgs::GoalStatus));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_msgs/GoalStatusArray"; };
+    const char * getMD5(){ return "8b2b82f13216d0a8ea88bd3af735e619"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib_tutorials/AveragingAction.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib_tutorials/AveragingAction.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_actionlib_tutorials_AveragingAction_h
+#define _ROS_actionlib_tutorials_AveragingAction_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "actionlib_tutorials/AveragingActionGoal.h"
+#include "actionlib_tutorials/AveragingActionResult.h"
+#include "actionlib_tutorials/AveragingActionFeedback.h"
+
+namespace actionlib_tutorials
+{
+
+  class AveragingAction : public ros::Msg
+  {
+    public:
+      actionlib_tutorials::AveragingActionGoal action_goal;
+      actionlib_tutorials::AveragingActionResult action_result;
+      actionlib_tutorials::AveragingActionFeedback action_feedback;
+
+    AveragingAction():
+      action_goal(),
+      action_result(),
+      action_feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->action_goal.serialize(outbuffer + offset);
+      offset += this->action_result.serialize(outbuffer + offset);
+      offset += this->action_feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->action_goal.deserialize(inbuffer + offset);
+      offset += this->action_result.deserialize(inbuffer + offset);
+      offset += this->action_feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/AveragingAction"; };
+    const char * getMD5(){ return "628678f2b4fa6a5951746a4a2d39e716"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib_tutorials/AveragingActionFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib_tutorials/AveragingActionFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_actionlib_tutorials_AveragingActionFeedback_h
+#define _ROS_actionlib_tutorials_AveragingActionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "actionlib_tutorials/AveragingFeedback.h"
+
+namespace actionlib_tutorials
+{
+
+  class AveragingActionFeedback : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalStatus status;
+      actionlib_tutorials::AveragingFeedback feedback;
+
+    AveragingActionFeedback():
+      header(),
+      status(),
+      feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/AveragingActionFeedback"; };
+    const char * getMD5(){ return "78a4a09241b1791069223ae7ebd5b16b"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib_tutorials/AveragingActionGoal.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib_tutorials/AveragingActionGoal.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_actionlib_tutorials_AveragingActionGoal_h
+#define _ROS_actionlib_tutorials_AveragingActionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalID.h"
+#include "actionlib_tutorials/AveragingGoal.h"
+
+namespace actionlib_tutorials
+{
+
+  class AveragingActionGoal : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalID goal_id;
+      actionlib_tutorials::AveragingGoal goal;
+
+    AveragingActionGoal():
+      header(),
+      goal_id(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->goal_id.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/AveragingActionGoal"; };
+    const char * getMD5(){ return "1561825b734ebd6039851c501e3fb570"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib_tutorials/AveragingActionResult.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib_tutorials/AveragingActionResult.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_actionlib_tutorials_AveragingActionResult_h
+#define _ROS_actionlib_tutorials_AveragingActionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "actionlib_tutorials/AveragingResult.h"
+
+namespace actionlib_tutorials
+{
+
+  class AveragingActionResult : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalStatus status;
+      actionlib_tutorials::AveragingResult result;
+
+    AveragingActionResult():
+      header(),
+      status(),
+      result()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->result.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->result.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/AveragingActionResult"; };
+    const char * getMD5(){ return "8672cb489d347580acdcd05c5d497497"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib_tutorials/AveragingFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib_tutorials/AveragingFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,130 @@
+#ifndef _ROS_actionlib_tutorials_AveragingFeedback_h
+#define _ROS_actionlib_tutorials_AveragingFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib_tutorials
+{
+
+  class AveragingFeedback : public ros::Msg
+  {
+    public:
+      int32_t sample;
+      float data;
+      float mean;
+      float std_dev;
+
+    AveragingFeedback():
+      sample(0),
+      data(0),
+      mean(0),
+      std_dev(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_sample;
+      u_sample.real = this->sample;
+      *(outbuffer + offset + 0) = (u_sample.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_sample.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_sample.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_sample.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->sample);
+      union {
+        float real;
+        uint32_t base;
+      } u_data;
+      u_data.real = this->data;
+      *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_data.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_data.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_data.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data);
+      union {
+        float real;
+        uint32_t base;
+      } u_mean;
+      u_mean.real = this->mean;
+      *(outbuffer + offset + 0) = (u_mean.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_mean.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_mean.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_mean.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->mean);
+      union {
+        float real;
+        uint32_t base;
+      } u_std_dev;
+      u_std_dev.real = this->std_dev;
+      *(outbuffer + offset + 0) = (u_std_dev.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_std_dev.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_std_dev.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_std_dev.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->std_dev);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_sample;
+      u_sample.base = 0;
+      u_sample.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_sample.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_sample.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_sample.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->sample = u_sample.real;
+      offset += sizeof(this->sample);
+      union {
+        float real;
+        uint32_t base;
+      } u_data;
+      u_data.base = 0;
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->data = u_data.real;
+      offset += sizeof(this->data);
+      union {
+        float real;
+        uint32_t base;
+      } u_mean;
+      u_mean.base = 0;
+      u_mean.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_mean.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_mean.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_mean.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->mean = u_mean.real;
+      offset += sizeof(this->mean);
+      union {
+        float real;
+        uint32_t base;
+      } u_std_dev;
+      u_std_dev.base = 0;
+      u_std_dev.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_std_dev.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_std_dev.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_std_dev.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->std_dev = u_std_dev.real;
+      offset += sizeof(this->std_dev);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/AveragingFeedback"; };
+    const char * getMD5(){ return "9e8dfc53c2f2a032ca33fa80ec46fd4f"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib_tutorials/AveragingGoal.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib_tutorials/AveragingGoal.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,61 @@
+#ifndef _ROS_actionlib_tutorials_AveragingGoal_h
+#define _ROS_actionlib_tutorials_AveragingGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib_tutorials
+{
+
+  class AveragingGoal : public ros::Msg
+  {
+    public:
+      int32_t samples;
+
+    AveragingGoal():
+      samples(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_samples;
+      u_samples.real = this->samples;
+      *(outbuffer + offset + 0) = (u_samples.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_samples.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_samples.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_samples.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->samples);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_samples;
+      u_samples.base = 0;
+      u_samples.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_samples.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_samples.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_samples.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->samples = u_samples.real;
+      offset += sizeof(this->samples);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/AveragingGoal"; };
+    const char * getMD5(){ return "32c9b10ef9b253faa93b93f564762c8f"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib_tutorials/AveragingResult.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib_tutorials/AveragingResult.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,84 @@
+#ifndef _ROS_actionlib_tutorials_AveragingResult_h
+#define _ROS_actionlib_tutorials_AveragingResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib_tutorials
+{
+
+  class AveragingResult : public ros::Msg
+  {
+    public:
+      float mean;
+      float std_dev;
+
+    AveragingResult():
+      mean(0),
+      std_dev(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_mean;
+      u_mean.real = this->mean;
+      *(outbuffer + offset + 0) = (u_mean.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_mean.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_mean.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_mean.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->mean);
+      union {
+        float real;
+        uint32_t base;
+      } u_std_dev;
+      u_std_dev.real = this->std_dev;
+      *(outbuffer + offset + 0) = (u_std_dev.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_std_dev.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_std_dev.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_std_dev.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->std_dev);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_mean;
+      u_mean.base = 0;
+      u_mean.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_mean.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_mean.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_mean.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->mean = u_mean.real;
+      offset += sizeof(this->mean);
+      union {
+        float real;
+        uint32_t base;
+      } u_std_dev;
+      u_std_dev.base = 0;
+      u_std_dev.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_std_dev.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_std_dev.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_std_dev.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->std_dev = u_std_dev.real;
+      offset += sizeof(this->std_dev);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/AveragingResult"; };
+    const char * getMD5(){ return "d5c7decf6df75ffb4367a05c1bcc7612"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib_tutorials/FibonacciAction.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib_tutorials/FibonacciAction.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_actionlib_tutorials_FibonacciAction_h
+#define _ROS_actionlib_tutorials_FibonacciAction_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "actionlib_tutorials/FibonacciActionGoal.h"
+#include "actionlib_tutorials/FibonacciActionResult.h"
+#include "actionlib_tutorials/FibonacciActionFeedback.h"
+
+namespace actionlib_tutorials
+{
+
+  class FibonacciAction : public ros::Msg
+  {
+    public:
+      actionlib_tutorials::FibonacciActionGoal action_goal;
+      actionlib_tutorials::FibonacciActionResult action_result;
+      actionlib_tutorials::FibonacciActionFeedback action_feedback;
+
+    FibonacciAction():
+      action_goal(),
+      action_result(),
+      action_feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->action_goal.serialize(outbuffer + offset);
+      offset += this->action_result.serialize(outbuffer + offset);
+      offset += this->action_feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->action_goal.deserialize(inbuffer + offset);
+      offset += this->action_result.deserialize(inbuffer + offset);
+      offset += this->action_feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/FibonacciAction"; };
+    const char * getMD5(){ return "f59df5767bf7634684781c92598b2406"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib_tutorials/FibonacciActionFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib_tutorials/FibonacciActionFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_actionlib_tutorials_FibonacciActionFeedback_h
+#define _ROS_actionlib_tutorials_FibonacciActionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "actionlib_tutorials/FibonacciFeedback.h"
+
+namespace actionlib_tutorials
+{
+
+  class FibonacciActionFeedback : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalStatus status;
+      actionlib_tutorials::FibonacciFeedback feedback;
+
+    FibonacciActionFeedback():
+      header(),
+      status(),
+      feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/FibonacciActionFeedback"; };
+    const char * getMD5(){ return "73b8497a9f629a31c0020900e4148f07"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib_tutorials/FibonacciActionGoal.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib_tutorials/FibonacciActionGoal.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_actionlib_tutorials_FibonacciActionGoal_h
+#define _ROS_actionlib_tutorials_FibonacciActionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalID.h"
+#include "actionlib_tutorials/FibonacciGoal.h"
+
+namespace actionlib_tutorials
+{
+
+  class FibonacciActionGoal : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalID goal_id;
+      actionlib_tutorials::FibonacciGoal goal;
+
+    FibonacciActionGoal():
+      header(),
+      goal_id(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->goal_id.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/FibonacciActionGoal"; };
+    const char * getMD5(){ return "006871c7fa1d0e3d5fe2226bf17b2a94"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib_tutorials/FibonacciActionResult.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib_tutorials/FibonacciActionResult.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_actionlib_tutorials_FibonacciActionResult_h
+#define _ROS_actionlib_tutorials_FibonacciActionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "actionlib_tutorials/FibonacciResult.h"
+
+namespace actionlib_tutorials
+{
+
+  class FibonacciActionResult : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalStatus status;
+      actionlib_tutorials::FibonacciResult result;
+
+    FibonacciActionResult():
+      header(),
+      status(),
+      result()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->result.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->result.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/FibonacciActionResult"; };
+    const char * getMD5(){ return "bee73a9fe29ae25e966e105f5553dd03"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib_tutorials/FibonacciFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib_tutorials/FibonacciFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,77 @@
+#ifndef _ROS_actionlib_tutorials_FibonacciFeedback_h
+#define _ROS_actionlib_tutorials_FibonacciFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib_tutorials
+{
+
+  class FibonacciFeedback : public ros::Msg
+  {
+    public:
+      uint8_t sequence_length;
+      int32_t st_sequence;
+      int32_t * sequence;
+
+    FibonacciFeedback():
+      sequence_length(0), sequence(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = sequence_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < sequence_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_sequencei;
+      u_sequencei.real = this->sequence[i];
+      *(outbuffer + offset + 0) = (u_sequencei.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_sequencei.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_sequencei.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_sequencei.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->sequence[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t sequence_lengthT = *(inbuffer + offset++);
+      if(sequence_lengthT > sequence_length)
+        this->sequence = (int32_t*)realloc(this->sequence, sequence_lengthT * sizeof(int32_t));
+      offset += 3;
+      sequence_length = sequence_lengthT;
+      for( uint8_t i = 0; i < sequence_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_st_sequence;
+      u_st_sequence.base = 0;
+      u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_sequence = u_st_sequence.real;
+      offset += sizeof(this->st_sequence);
+        memcpy( &(this->sequence[i]), &(this->st_sequence), sizeof(int32_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/FibonacciFeedback"; };
+    const char * getMD5(){ return "b81e37d2a31925a0e8ae261a8699cb79"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib_tutorials/FibonacciGoal.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib_tutorials/FibonacciGoal.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,61 @@
+#ifndef _ROS_actionlib_tutorials_FibonacciGoal_h
+#define _ROS_actionlib_tutorials_FibonacciGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib_tutorials
+{
+
+  class FibonacciGoal : public ros::Msg
+  {
+    public:
+      int32_t order;
+
+    FibonacciGoal():
+      order(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_order;
+      u_order.real = this->order;
+      *(outbuffer + offset + 0) = (u_order.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_order.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_order.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_order.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->order);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_order;
+      u_order.base = 0;
+      u_order.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_order.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_order.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_order.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->order = u_order.real;
+      offset += sizeof(this->order);
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/FibonacciGoal"; };
+    const char * getMD5(){ return "6889063349a00b249bd1661df429d822"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 actionlib_tutorials/FibonacciResult.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/actionlib_tutorials/FibonacciResult.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,77 @@
+#ifndef _ROS_actionlib_tutorials_FibonacciResult_h
+#define _ROS_actionlib_tutorials_FibonacciResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace actionlib_tutorials
+{
+
+  class FibonacciResult : public ros::Msg
+  {
+    public:
+      uint8_t sequence_length;
+      int32_t st_sequence;
+      int32_t * sequence;
+
+    FibonacciResult():
+      sequence_length(0), sequence(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = sequence_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < sequence_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_sequencei;
+      u_sequencei.real = this->sequence[i];
+      *(outbuffer + offset + 0) = (u_sequencei.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_sequencei.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_sequencei.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_sequencei.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->sequence[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t sequence_lengthT = *(inbuffer + offset++);
+      if(sequence_lengthT > sequence_length)
+        this->sequence = (int32_t*)realloc(this->sequence, sequence_lengthT * sizeof(int32_t));
+      offset += 3;
+      sequence_length = sequence_lengthT;
+      for( uint8_t i = 0; i < sequence_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_st_sequence;
+      u_st_sequence.base = 0;
+      u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_sequence.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_sequence = u_st_sequence.real;
+      offset += sizeof(this->st_sequence);
+        memcpy( &(this->sequence[i]), &(this->st_sequence), sizeof(int32_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "actionlib_tutorials/FibonacciResult"; };
+    const char * getMD5(){ return "b81e37d2a31925a0e8ae261a8699cb79"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 bond/Constants.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bond/Constants.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,44 @@
+#ifndef _ROS_bond_Constants_h
+#define _ROS_bond_Constants_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace bond
+{
+
+  class Constants : public ros::Msg
+  {
+    public:
+      enum { DEAD_PUBLISH_PERIOD =  0.05 };
+      enum { DEFAULT_CONNECT_TIMEOUT =  10.0 };
+      enum { DEFAULT_HEARTBEAT_TIMEOUT =  4.0 };
+      enum { DEFAULT_DISCONNECT_TIMEOUT =  2.0 };
+      enum { DEFAULT_HEARTBEAT_PERIOD =  1.0 };
+      enum { DISABLE_HEARTBEAT_TIMEOUT_PARAM = /bond_disable_heartbeat_timeout };
+
+    Constants()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "bond/Constants"; };
+    const char * getMD5(){ return "6fc594dc1d7bd7919077042712f8c8b0"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 bond/Status.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/bond/Status.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,138 @@
+#ifndef _ROS_bond_Status_h
+#define _ROS_bond_Status_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace bond
+{
+
+  class Status : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      const char* id;
+      const char* instance_id;
+      bool active;
+      float heartbeat_timeout;
+      float heartbeat_period;
+
+    Status():
+      header(),
+      id(""),
+      instance_id(""),
+      active(0),
+      heartbeat_timeout(0),
+      heartbeat_period(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      uint32_t length_id = strlen(this->id);
+      memcpy(outbuffer + offset, &length_id, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->id, length_id);
+      offset += length_id;
+      uint32_t length_instance_id = strlen(this->instance_id);
+      memcpy(outbuffer + offset, &length_instance_id, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->instance_id, length_instance_id);
+      offset += length_instance_id;
+      union {
+        bool real;
+        uint8_t base;
+      } u_active;
+      u_active.real = this->active;
+      *(outbuffer + offset + 0) = (u_active.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->active);
+      union {
+        float real;
+        uint32_t base;
+      } u_heartbeat_timeout;
+      u_heartbeat_timeout.real = this->heartbeat_timeout;
+      *(outbuffer + offset + 0) = (u_heartbeat_timeout.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_heartbeat_timeout.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_heartbeat_timeout.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_heartbeat_timeout.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->heartbeat_timeout);
+      union {
+        float real;
+        uint32_t base;
+      } u_heartbeat_period;
+      u_heartbeat_period.real = this->heartbeat_period;
+      *(outbuffer + offset + 0) = (u_heartbeat_period.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_heartbeat_period.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_heartbeat_period.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_heartbeat_period.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->heartbeat_period);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t length_id;
+      memcpy(&length_id, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_id-1]=0;
+      this->id = (char *)(inbuffer + offset-1);
+      offset += length_id;
+      uint32_t length_instance_id;
+      memcpy(&length_instance_id, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_instance_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_instance_id-1]=0;
+      this->instance_id = (char *)(inbuffer + offset-1);
+      offset += length_instance_id;
+      union {
+        bool real;
+        uint8_t base;
+      } u_active;
+      u_active.base = 0;
+      u_active.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->active = u_active.real;
+      offset += sizeof(this->active);
+      union {
+        float real;
+        uint32_t base;
+      } u_heartbeat_timeout;
+      u_heartbeat_timeout.base = 0;
+      u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_heartbeat_timeout.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->heartbeat_timeout = u_heartbeat_timeout.real;
+      offset += sizeof(this->heartbeat_timeout);
+      union {
+        float real;
+        uint32_t base;
+      } u_heartbeat_period;
+      u_heartbeat_period.base = 0;
+      u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_heartbeat_period.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->heartbeat_period = u_heartbeat_period.real;
+      offset += sizeof(this->heartbeat_period);
+     return offset;
+    }
+
+    const char * getType(){ return "bond/Status"; };
+    const char * getMD5(){ return "eacc84bf5d65b6777d4c50f463dfb9c8"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/FollowJointTrajectoryAction.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/FollowJointTrajectoryAction.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_control_msgs_FollowJointTrajectoryAction_h
+#define _ROS_control_msgs_FollowJointTrajectoryAction_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "control_msgs/FollowJointTrajectoryActionGoal.h"
+#include "control_msgs/FollowJointTrajectoryActionResult.h"
+#include "control_msgs/FollowJointTrajectoryActionFeedback.h"
+
+namespace control_msgs
+{
+
+  class FollowJointTrajectoryAction : public ros::Msg
+  {
+    public:
+      control_msgs::FollowJointTrajectoryActionGoal action_goal;
+      control_msgs::FollowJointTrajectoryActionResult action_result;
+      control_msgs::FollowJointTrajectoryActionFeedback action_feedback;
+
+    FollowJointTrajectoryAction():
+      action_goal(),
+      action_result(),
+      action_feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->action_goal.serialize(outbuffer + offset);
+      offset += this->action_result.serialize(outbuffer + offset);
+      offset += this->action_feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->action_goal.deserialize(inbuffer + offset);
+      offset += this->action_result.deserialize(inbuffer + offset);
+      offset += this->action_feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/FollowJointTrajectoryAction"; };
+    const char * getMD5(){ return "bc4f9b743838566551c0390c65f1a248"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/FollowJointTrajectoryActionFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/FollowJointTrajectoryActionFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_control_msgs_FollowJointTrajectoryActionFeedback_h
+#define _ROS_control_msgs_FollowJointTrajectoryActionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "control_msgs/FollowJointTrajectoryFeedback.h"
+
+namespace control_msgs
+{
+
+  class FollowJointTrajectoryActionFeedback : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalStatus status;
+      control_msgs::FollowJointTrajectoryFeedback feedback;
+
+    FollowJointTrajectoryActionFeedback():
+      header(),
+      status(),
+      feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/FollowJointTrajectoryActionFeedback"; };
+    const char * getMD5(){ return "d8920dc4eae9fc107e00999cce4be641"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/FollowJointTrajectoryActionGoal.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/FollowJointTrajectoryActionGoal.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_control_msgs_FollowJointTrajectoryActionGoal_h
+#define _ROS_control_msgs_FollowJointTrajectoryActionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalID.h"
+#include "control_msgs/FollowJointTrajectoryGoal.h"
+
+namespace control_msgs
+{
+
+  class FollowJointTrajectoryActionGoal : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalID goal_id;
+      control_msgs::FollowJointTrajectoryGoal goal;
+
+    FollowJointTrajectoryActionGoal():
+      header(),
+      goal_id(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->goal_id.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/FollowJointTrajectoryActionGoal"; };
+    const char * getMD5(){ return "cff5c1d533bf2f82dd0138d57f4304bb"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/FollowJointTrajectoryActionResult.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/FollowJointTrajectoryActionResult.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_control_msgs_FollowJointTrajectoryActionResult_h
+#define _ROS_control_msgs_FollowJointTrajectoryActionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "control_msgs/FollowJointTrajectoryResult.h"
+
+namespace control_msgs
+{
+
+  class FollowJointTrajectoryActionResult : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalStatus status;
+      control_msgs::FollowJointTrajectoryResult result;
+
+    FollowJointTrajectoryActionResult():
+      header(),
+      status(),
+      result()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->result.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->result.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/FollowJointTrajectoryActionResult"; };
+    const char * getMD5(){ return "c4fb3b000dc9da4fd99699380efcc5d9"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/FollowJointTrajectoryFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/FollowJointTrajectoryFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,88 @@
+#ifndef _ROS_control_msgs_FollowJointTrajectoryFeedback_h
+#define _ROS_control_msgs_FollowJointTrajectoryFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "trajectory_msgs/JointTrajectoryPoint.h"
+
+namespace control_msgs
+{
+
+  class FollowJointTrajectoryFeedback : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t joint_names_length;
+      char* st_joint_names;
+      char* * joint_names;
+      trajectory_msgs::JointTrajectoryPoint desired;
+      trajectory_msgs::JointTrajectoryPoint actual;
+      trajectory_msgs::JointTrajectoryPoint error;
+
+    FollowJointTrajectoryFeedback():
+      header(),
+      joint_names_length(0), joint_names(NULL),
+      desired(),
+      actual(),
+      error()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = joint_names_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < joint_names_length; i++){
+      uint32_t length_joint_namesi = strlen(this->joint_names[i]);
+      memcpy(outbuffer + offset, &length_joint_namesi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
+      offset += length_joint_namesi;
+      }
+      offset += this->desired.serialize(outbuffer + offset);
+      offset += this->actual.serialize(outbuffer + offset);
+      offset += this->error.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t joint_names_lengthT = *(inbuffer + offset++);
+      if(joint_names_lengthT > joint_names_length)
+        this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
+      offset += 3;
+      joint_names_length = joint_names_lengthT;
+      for( uint8_t i = 0; i < joint_names_length; i++){
+      uint32_t length_st_joint_names;
+      memcpy(&length_st_joint_names, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_joint_names-1]=0;
+      this->st_joint_names = (char *)(inbuffer + offset-1);
+      offset += length_st_joint_names;
+        memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
+      }
+      offset += this->desired.deserialize(inbuffer + offset);
+      offset += this->actual.deserialize(inbuffer + offset);
+      offset += this->error.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/FollowJointTrajectoryFeedback"; };
+    const char * getMD5(){ return "10817c60c2486ef6b33e97dcd87f4474"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/FollowJointTrajectoryGoal.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/FollowJointTrajectoryGoal.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,107 @@
+#ifndef _ROS_control_msgs_FollowJointTrajectoryGoal_h
+#define _ROS_control_msgs_FollowJointTrajectoryGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "trajectory_msgs/JointTrajectory.h"
+#include "control_msgs/JointTolerance.h"
+#include "ros/duration.h"
+
+namespace control_msgs
+{
+
+  class FollowJointTrajectoryGoal : public ros::Msg
+  {
+    public:
+      trajectory_msgs::JointTrajectory trajectory;
+      uint8_t path_tolerance_length;
+      control_msgs::JointTolerance st_path_tolerance;
+      control_msgs::JointTolerance * path_tolerance;
+      uint8_t goal_tolerance_length;
+      control_msgs::JointTolerance st_goal_tolerance;
+      control_msgs::JointTolerance * goal_tolerance;
+      ros::Duration goal_time_tolerance;
+
+    FollowJointTrajectoryGoal():
+      trajectory(),
+      path_tolerance_length(0), path_tolerance(NULL),
+      goal_tolerance_length(0), goal_tolerance(NULL),
+      goal_time_tolerance()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->trajectory.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = path_tolerance_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < path_tolerance_length; i++){
+      offset += this->path_tolerance[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = goal_tolerance_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < goal_tolerance_length; i++){
+      offset += this->goal_tolerance[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->goal_time_tolerance.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->goal_time_tolerance.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->goal_time_tolerance.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->goal_time_tolerance.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->goal_time_tolerance.sec);
+      *(outbuffer + offset + 0) = (this->goal_time_tolerance.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->goal_time_tolerance.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->goal_time_tolerance.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->goal_time_tolerance.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->goal_time_tolerance.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->trajectory.deserialize(inbuffer + offset);
+      uint8_t path_tolerance_lengthT = *(inbuffer + offset++);
+      if(path_tolerance_lengthT > path_tolerance_length)
+        this->path_tolerance = (control_msgs::JointTolerance*)realloc(this->path_tolerance, path_tolerance_lengthT * sizeof(control_msgs::JointTolerance));
+      offset += 3;
+      path_tolerance_length = path_tolerance_lengthT;
+      for( uint8_t i = 0; i < path_tolerance_length; i++){
+      offset += this->st_path_tolerance.deserialize(inbuffer + offset);
+        memcpy( &(this->path_tolerance[i]), &(this->st_path_tolerance), sizeof(control_msgs::JointTolerance));
+      }
+      uint8_t goal_tolerance_lengthT = *(inbuffer + offset++);
+      if(goal_tolerance_lengthT > goal_tolerance_length)
+        this->goal_tolerance = (control_msgs::JointTolerance*)realloc(this->goal_tolerance, goal_tolerance_lengthT * sizeof(control_msgs::JointTolerance));
+      offset += 3;
+      goal_tolerance_length = goal_tolerance_lengthT;
+      for( uint8_t i = 0; i < goal_tolerance_length; i++){
+      offset += this->st_goal_tolerance.deserialize(inbuffer + offset);
+        memcpy( &(this->goal_tolerance[i]), &(this->st_goal_tolerance), sizeof(control_msgs::JointTolerance));
+      }
+      this->goal_time_tolerance.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->goal_time_tolerance.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->goal_time_tolerance.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->goal_time_tolerance.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->goal_time_tolerance.sec);
+      this->goal_time_tolerance.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->goal_time_tolerance.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->goal_time_tolerance.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->goal_time_tolerance.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->goal_time_tolerance.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/FollowJointTrajectoryGoal"; };
+    const char * getMD5(){ return "69636787b6ecbde4d61d711979bc7ecb"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/FollowJointTrajectoryResult.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/FollowJointTrajectoryResult.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,83 @@
+#ifndef _ROS_control_msgs_FollowJointTrajectoryResult_h
+#define _ROS_control_msgs_FollowJointTrajectoryResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace control_msgs
+{
+
+  class FollowJointTrajectoryResult : public ros::Msg
+  {
+    public:
+      int32_t error_code;
+      const char* error_string;
+      enum { SUCCESSFUL =  0 };
+      enum { INVALID_GOAL =  -1 };
+      enum { INVALID_JOINTS =  -2 };
+      enum { OLD_HEADER_TIMESTAMP =  -3 };
+      enum { PATH_TOLERANCE_VIOLATED =  -4 };
+      enum { GOAL_TOLERANCE_VIOLATED =  -5 };
+
+    FollowJointTrajectoryResult():
+      error_code(0),
+      error_string("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_error_code;
+      u_error_code.real = this->error_code;
+      *(outbuffer + offset + 0) = (u_error_code.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_error_code.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_error_code.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_error_code.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->error_code);
+      uint32_t length_error_string = strlen(this->error_string);
+      memcpy(outbuffer + offset, &length_error_string, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->error_string, length_error_string);
+      offset += length_error_string;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_error_code;
+      u_error_code.base = 0;
+      u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_error_code.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->error_code = u_error_code.real;
+      offset += sizeof(this->error_code);
+      uint32_t length_error_string;
+      memcpy(&length_error_string, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_error_string; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_error_string-1]=0;
+      this->error_string = (char *)(inbuffer + offset-1);
+      offset += length_error_string;
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/FollowJointTrajectoryResult"; };
+    const char * getMD5(){ return "493383b18409bfb604b4e26c676401d2"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/GripperCommand.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/GripperCommand.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,100 @@
+#ifndef _ROS_control_msgs_GripperCommand_h
+#define _ROS_control_msgs_GripperCommand_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace control_msgs
+{
+
+  class GripperCommand : public ros::Msg
+  {
+    public:
+      double position;
+      double max_effort;
+
+    GripperCommand():
+      position(0),
+      max_effort(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_position;
+      u_position.real = this->position;
+      *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->position);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_effort;
+      u_max_effort.real = this->max_effort;
+      *(outbuffer + offset + 0) = (u_max_effort.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_max_effort.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_max_effort.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_max_effort.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_max_effort.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_max_effort.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_max_effort.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_max_effort.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->max_effort);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_position;
+      u_position.base = 0;
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->position = u_position.real;
+      offset += sizeof(this->position);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_effort;
+      u_max_effort.base = 0;
+      u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_max_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->max_effort = u_max_effort.real;
+      offset += sizeof(this->max_effort);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/GripperCommand"; };
+    const char * getMD5(){ return "680acaff79486f017132a7f198d40f08"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/GripperCommandAction.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/GripperCommandAction.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_control_msgs_GripperCommandAction_h
+#define _ROS_control_msgs_GripperCommandAction_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "control_msgs/GripperCommandActionGoal.h"
+#include "control_msgs/GripperCommandActionResult.h"
+#include "control_msgs/GripperCommandActionFeedback.h"
+
+namespace control_msgs
+{
+
+  class GripperCommandAction : public ros::Msg
+  {
+    public:
+      control_msgs::GripperCommandActionGoal action_goal;
+      control_msgs::GripperCommandActionResult action_result;
+      control_msgs::GripperCommandActionFeedback action_feedback;
+
+    GripperCommandAction():
+      action_goal(),
+      action_result(),
+      action_feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->action_goal.serialize(outbuffer + offset);
+      offset += this->action_result.serialize(outbuffer + offset);
+      offset += this->action_feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->action_goal.deserialize(inbuffer + offset);
+      offset += this->action_result.deserialize(inbuffer + offset);
+      offset += this->action_feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/GripperCommandAction"; };
+    const char * getMD5(){ return "950b2a6ebe831f5d4f4ceaba3d8be01e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/GripperCommandActionFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/GripperCommandActionFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_control_msgs_GripperCommandActionFeedback_h
+#define _ROS_control_msgs_GripperCommandActionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "control_msgs/GripperCommandFeedback.h"
+
+namespace control_msgs
+{
+
+  class GripperCommandActionFeedback : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalStatus status;
+      control_msgs::GripperCommandFeedback feedback;
+
+    GripperCommandActionFeedback():
+      header(),
+      status(),
+      feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/GripperCommandActionFeedback"; };
+    const char * getMD5(){ return "653dff30c045f5e6ff3feb3409f4558d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/GripperCommandActionGoal.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/GripperCommandActionGoal.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_control_msgs_GripperCommandActionGoal_h
+#define _ROS_control_msgs_GripperCommandActionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalID.h"
+#include "control_msgs/GripperCommandGoal.h"
+
+namespace control_msgs
+{
+
+  class GripperCommandActionGoal : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalID goal_id;
+      control_msgs::GripperCommandGoal goal;
+
+    GripperCommandActionGoal():
+      header(),
+      goal_id(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->goal_id.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/GripperCommandActionGoal"; };
+    const char * getMD5(){ return "aa581f648a35ed681db2ec0bf7a82bea"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/GripperCommandActionResult.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/GripperCommandActionResult.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_control_msgs_GripperCommandActionResult_h
+#define _ROS_control_msgs_GripperCommandActionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "control_msgs/GripperCommandResult.h"
+
+namespace control_msgs
+{
+
+  class GripperCommandActionResult : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalStatus status;
+      control_msgs::GripperCommandResult result;
+
+    GripperCommandActionResult():
+      header(),
+      status(),
+      result()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->result.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->result.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/GripperCommandActionResult"; };
+    const char * getMD5(){ return "143702cb2df0f163c5283cedc5efc6b6"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/GripperCommandFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/GripperCommandFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,134 @@
+#ifndef _ROS_control_msgs_GripperCommandFeedback_h
+#define _ROS_control_msgs_GripperCommandFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace control_msgs
+{
+
+  class GripperCommandFeedback : public ros::Msg
+  {
+    public:
+      double position;
+      double effort;
+      bool stalled;
+      bool reached_goal;
+
+    GripperCommandFeedback():
+      position(0),
+      effort(0),
+      stalled(0),
+      reached_goal(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_position;
+      u_position.real = this->position;
+      *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->position);
+      union {
+        double real;
+        uint64_t base;
+      } u_effort;
+      u_effort.real = this->effort;
+      *(outbuffer + offset + 0) = (u_effort.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_effort.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_effort.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_effort.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_effort.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_effort.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_effort.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_effort.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->effort);
+      union {
+        bool real;
+        uint8_t base;
+      } u_stalled;
+      u_stalled.real = this->stalled;
+      *(outbuffer + offset + 0) = (u_stalled.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->stalled);
+      union {
+        bool real;
+        uint8_t base;
+      } u_reached_goal;
+      u_reached_goal.real = this->reached_goal;
+      *(outbuffer + offset + 0) = (u_reached_goal.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->reached_goal);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_position;
+      u_position.base = 0;
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->position = u_position.real;
+      offset += sizeof(this->position);
+      union {
+        double real;
+        uint64_t base;
+      } u_effort;
+      u_effort.base = 0;
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->effort = u_effort.real;
+      offset += sizeof(this->effort);
+      union {
+        bool real;
+        uint8_t base;
+      } u_stalled;
+      u_stalled.base = 0;
+      u_stalled.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->stalled = u_stalled.real;
+      offset += sizeof(this->stalled);
+      union {
+        bool real;
+        uint8_t base;
+      } u_reached_goal;
+      u_reached_goal.base = 0;
+      u_reached_goal.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->reached_goal = u_reached_goal.real;
+      offset += sizeof(this->reached_goal);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/GripperCommandFeedback"; };
+    const char * getMD5(){ return "e4cbff56d3562bcf113da5a5adeef91f"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/GripperCommandGoal.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/GripperCommandGoal.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,43 @@
+#ifndef _ROS_control_msgs_GripperCommandGoal_h
+#define _ROS_control_msgs_GripperCommandGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "control_msgs/GripperCommand.h"
+
+namespace control_msgs
+{
+
+  class GripperCommandGoal : public ros::Msg
+  {
+    public:
+      control_msgs::GripperCommand command;
+
+    GripperCommandGoal():
+      command()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->command.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->command.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/GripperCommandGoal"; };
+    const char * getMD5(){ return "86fd82f4ddc48a4cb6856cfa69217e43"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/GripperCommandResult.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/GripperCommandResult.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,134 @@
+#ifndef _ROS_control_msgs_GripperCommandResult_h
+#define _ROS_control_msgs_GripperCommandResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace control_msgs
+{
+
+  class GripperCommandResult : public ros::Msg
+  {
+    public:
+      double position;
+      double effort;
+      bool stalled;
+      bool reached_goal;
+
+    GripperCommandResult():
+      position(0),
+      effort(0),
+      stalled(0),
+      reached_goal(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_position;
+      u_position.real = this->position;
+      *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->position);
+      union {
+        double real;
+        uint64_t base;
+      } u_effort;
+      u_effort.real = this->effort;
+      *(outbuffer + offset + 0) = (u_effort.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_effort.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_effort.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_effort.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_effort.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_effort.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_effort.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_effort.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->effort);
+      union {
+        bool real;
+        uint8_t base;
+      } u_stalled;
+      u_stalled.real = this->stalled;
+      *(outbuffer + offset + 0) = (u_stalled.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->stalled);
+      union {
+        bool real;
+        uint8_t base;
+      } u_reached_goal;
+      u_reached_goal.real = this->reached_goal;
+      *(outbuffer + offset + 0) = (u_reached_goal.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->reached_goal);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_position;
+      u_position.base = 0;
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->position = u_position.real;
+      offset += sizeof(this->position);
+      union {
+        double real;
+        uint64_t base;
+      } u_effort;
+      u_effort.base = 0;
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->effort = u_effort.real;
+      offset += sizeof(this->effort);
+      union {
+        bool real;
+        uint8_t base;
+      } u_stalled;
+      u_stalled.base = 0;
+      u_stalled.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->stalled = u_stalled.real;
+      offset += sizeof(this->stalled);
+      union {
+        bool real;
+        uint8_t base;
+      } u_reached_goal;
+      u_reached_goal.base = 0;
+      u_reached_goal.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->reached_goal = u_reached_goal.real;
+      offset += sizeof(this->reached_goal);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/GripperCommandResult"; };
+    const char * getMD5(){ return "e4cbff56d3562bcf113da5a5adeef91f"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/JointControllerState.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/JointControllerState.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,353 @@
+#ifndef _ROS_control_msgs_JointControllerState_h
+#define _ROS_control_msgs_JointControllerState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace control_msgs
+{
+
+  class JointControllerState : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      double set_point;
+      double process_value;
+      double process_value_dot;
+      double error;
+      double time_step;
+      double command;
+      double p;
+      double i;
+      double d;
+      double i_clamp;
+
+    JointControllerState():
+      header(),
+      set_point(0),
+      process_value(0),
+      process_value_dot(0),
+      error(0),
+      time_step(0),
+      command(0),
+      p(0),
+      i(0),
+      d(0),
+      i_clamp(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_set_point;
+      u_set_point.real = this->set_point;
+      *(outbuffer + offset + 0) = (u_set_point.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_set_point.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_set_point.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_set_point.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_set_point.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_set_point.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_set_point.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_set_point.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->set_point);
+      union {
+        double real;
+        uint64_t base;
+      } u_process_value;
+      u_process_value.real = this->process_value;
+      *(outbuffer + offset + 0) = (u_process_value.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_process_value.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_process_value.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_process_value.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_process_value.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_process_value.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_process_value.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_process_value.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->process_value);
+      union {
+        double real;
+        uint64_t base;
+      } u_process_value_dot;
+      u_process_value_dot.real = this->process_value_dot;
+      *(outbuffer + offset + 0) = (u_process_value_dot.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_process_value_dot.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_process_value_dot.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_process_value_dot.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_process_value_dot.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_process_value_dot.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_process_value_dot.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_process_value_dot.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->process_value_dot);
+      union {
+        double real;
+        uint64_t base;
+      } u_error;
+      u_error.real = this->error;
+      *(outbuffer + offset + 0) = (u_error.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_error.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_error.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_error.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_error.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_error.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_error.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_error.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->error);
+      union {
+        double real;
+        uint64_t base;
+      } u_time_step;
+      u_time_step.real = this->time_step;
+      *(outbuffer + offset + 0) = (u_time_step.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_time_step.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_time_step.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_time_step.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_time_step.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_time_step.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_time_step.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_time_step.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->time_step);
+      union {
+        double real;
+        uint64_t base;
+      } u_command;
+      u_command.real = this->command;
+      *(outbuffer + offset + 0) = (u_command.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_command.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_command.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_command.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_command.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_command.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_command.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_command.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->command);
+      union {
+        double real;
+        uint64_t base;
+      } u_p;
+      u_p.real = this->p;
+      *(outbuffer + offset + 0) = (u_p.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_p.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_p.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_p.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_p.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_p.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_p.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_p.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->p);
+      union {
+        double real;
+        uint64_t base;
+      } u_i;
+      u_i.real = this->i;
+      *(outbuffer + offset + 0) = (u_i.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_i.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_i.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_i.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_i.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_i.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_i.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_i.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->i);
+      union {
+        double real;
+        uint64_t base;
+      } u_d;
+      u_d.real = this->d;
+      *(outbuffer + offset + 0) = (u_d.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_d.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_d.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_d.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_d.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_d.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_d.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_d.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->d);
+      union {
+        double real;
+        uint64_t base;
+      } u_i_clamp;
+      u_i_clamp.real = this->i_clamp;
+      *(outbuffer + offset + 0) = (u_i_clamp.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_i_clamp.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_i_clamp.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_i_clamp.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_i_clamp.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_i_clamp.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_i_clamp.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_i_clamp.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->i_clamp);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_set_point;
+      u_set_point.base = 0;
+      u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_set_point.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->set_point = u_set_point.real;
+      offset += sizeof(this->set_point);
+      union {
+        double real;
+        uint64_t base;
+      } u_process_value;
+      u_process_value.base = 0;
+      u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_process_value.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->process_value = u_process_value.real;
+      offset += sizeof(this->process_value);
+      union {
+        double real;
+        uint64_t base;
+      } u_process_value_dot;
+      u_process_value_dot.base = 0;
+      u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_process_value_dot.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->process_value_dot = u_process_value_dot.real;
+      offset += sizeof(this->process_value_dot);
+      union {
+        double real;
+        uint64_t base;
+      } u_error;
+      u_error.base = 0;
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->error = u_error.real;
+      offset += sizeof(this->error);
+      union {
+        double real;
+        uint64_t base;
+      } u_time_step;
+      u_time_step.base = 0;
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->time_step = u_time_step.real;
+      offset += sizeof(this->time_step);
+      union {
+        double real;
+        uint64_t base;
+      } u_command;
+      u_command.base = 0;
+      u_command.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_command.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_command.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_command.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_command.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_command.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_command.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_command.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->command = u_command.real;
+      offset += sizeof(this->command);
+      union {
+        double real;
+        uint64_t base;
+      } u_p;
+      u_p.base = 0;
+      u_p.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_p.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_p.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_p.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_p.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_p.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_p.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_p.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->p = u_p.real;
+      offset += sizeof(this->p);
+      union {
+        double real;
+        uint64_t base;
+      } u_i;
+      u_i.base = 0;
+      u_i.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_i.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_i.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_i.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_i.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_i.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_i.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_i.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->i = u_i.real;
+      offset += sizeof(this->i);
+      union {
+        double real;
+        uint64_t base;
+      } u_d;
+      u_d.base = 0;
+      u_d.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_d.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_d.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_d.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_d.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_d.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_d.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_d.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->d = u_d.real;
+      offset += sizeof(this->d);
+      union {
+        double real;
+        uint64_t base;
+      } u_i_clamp;
+      u_i_clamp.base = 0;
+      u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_i_clamp.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->i_clamp = u_i_clamp.real;
+      offset += sizeof(this->i_clamp);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/JointControllerState"; };
+    const char * getMD5(){ return "c0d034a7bf20aeb1c37f3eccb7992b69"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/JointTolerance.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/JointTolerance.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,147 @@
+#ifndef _ROS_control_msgs_JointTolerance_h
+#define _ROS_control_msgs_JointTolerance_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace control_msgs
+{
+
+  class JointTolerance : public ros::Msg
+  {
+    public:
+      const char* name;
+      double position;
+      double velocity;
+      double acceleration;
+
+    JointTolerance():
+      name(""),
+      position(0),
+      velocity(0),
+      acceleration(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      union {
+        double real;
+        uint64_t base;
+      } u_position;
+      u_position.real = this->position;
+      *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->position);
+      union {
+        double real;
+        uint64_t base;
+      } u_velocity;
+      u_velocity.real = this->velocity;
+      *(outbuffer + offset + 0) = (u_velocity.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_velocity.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_velocity.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_velocity.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_velocity.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_velocity.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_velocity.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_velocity.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->velocity);
+      union {
+        double real;
+        uint64_t base;
+      } u_acceleration;
+      u_acceleration.real = this->acceleration;
+      *(outbuffer + offset + 0) = (u_acceleration.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_acceleration.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_acceleration.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_acceleration.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_acceleration.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_acceleration.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_acceleration.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_acceleration.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->acceleration);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      union {
+        double real;
+        uint64_t base;
+      } u_position;
+      u_position.base = 0;
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->position = u_position.real;
+      offset += sizeof(this->position);
+      union {
+        double real;
+        uint64_t base;
+      } u_velocity;
+      u_velocity.base = 0;
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->velocity = u_velocity.real;
+      offset += sizeof(this->velocity);
+      union {
+        double real;
+        uint64_t base;
+      } u_acceleration;
+      u_acceleration.base = 0;
+      u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->acceleration = u_acceleration.real;
+      offset += sizeof(this->acceleration);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/JointTolerance"; };
+    const char * getMD5(){ return "f544fe9c16cf04547e135dd6063ff5be"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/JointTrajectoryAction.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/JointTrajectoryAction.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_control_msgs_JointTrajectoryAction_h
+#define _ROS_control_msgs_JointTrajectoryAction_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "control_msgs/JointTrajectoryActionGoal.h"
+#include "control_msgs/JointTrajectoryActionResult.h"
+#include "control_msgs/JointTrajectoryActionFeedback.h"
+
+namespace control_msgs
+{
+
+  class JointTrajectoryAction : public ros::Msg
+  {
+    public:
+      control_msgs::JointTrajectoryActionGoal action_goal;
+      control_msgs::JointTrajectoryActionResult action_result;
+      control_msgs::JointTrajectoryActionFeedback action_feedback;
+
+    JointTrajectoryAction():
+      action_goal(),
+      action_result(),
+      action_feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->action_goal.serialize(outbuffer + offset);
+      offset += this->action_result.serialize(outbuffer + offset);
+      offset += this->action_feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->action_goal.deserialize(inbuffer + offset);
+      offset += this->action_result.deserialize(inbuffer + offset);
+      offset += this->action_feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/JointTrajectoryAction"; };
+    const char * getMD5(){ return "a04ba3ee8f6a2d0985a6aeaf23d9d7ad"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/JointTrajectoryActionFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/JointTrajectoryActionFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_control_msgs_JointTrajectoryActionFeedback_h
+#define _ROS_control_msgs_JointTrajectoryActionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "control_msgs/JointTrajectoryFeedback.h"
+
+namespace control_msgs
+{
+
+  class JointTrajectoryActionFeedback : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalStatus status;
+      control_msgs::JointTrajectoryFeedback feedback;
+
+    JointTrajectoryActionFeedback():
+      header(),
+      status(),
+      feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/JointTrajectoryActionFeedback"; };
+    const char * getMD5(){ return "aae20e09065c3809e8a8e87c4c8953fd"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/JointTrajectoryActionGoal.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/JointTrajectoryActionGoal.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_control_msgs_JointTrajectoryActionGoal_h
+#define _ROS_control_msgs_JointTrajectoryActionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalID.h"
+#include "control_msgs/JointTrajectoryGoal.h"
+
+namespace control_msgs
+{
+
+  class JointTrajectoryActionGoal : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalID goal_id;
+      control_msgs::JointTrajectoryGoal goal;
+
+    JointTrajectoryActionGoal():
+      header(),
+      goal_id(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->goal_id.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/JointTrajectoryActionGoal"; };
+    const char * getMD5(){ return "a99e83ef6185f9fdd7693efe99623a86"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/JointTrajectoryActionResult.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/JointTrajectoryActionResult.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_control_msgs_JointTrajectoryActionResult_h
+#define _ROS_control_msgs_JointTrajectoryActionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "control_msgs/JointTrajectoryResult.h"
+
+namespace control_msgs
+{
+
+  class JointTrajectoryActionResult : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalStatus status;
+      control_msgs::JointTrajectoryResult result;
+
+    JointTrajectoryActionResult():
+      header(),
+      status(),
+      result()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->result.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->result.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/JointTrajectoryActionResult"; };
+    const char * getMD5(){ return "1eb06eeff08fa7ea874431638cb52332"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/JointTrajectoryControllerState.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/JointTrajectoryControllerState.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,88 @@
+#ifndef _ROS_control_msgs_JointTrajectoryControllerState_h
+#define _ROS_control_msgs_JointTrajectoryControllerState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "trajectory_msgs/JointTrajectoryPoint.h"
+
+namespace control_msgs
+{
+
+  class JointTrajectoryControllerState : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t joint_names_length;
+      char* st_joint_names;
+      char* * joint_names;
+      trajectory_msgs::JointTrajectoryPoint desired;
+      trajectory_msgs::JointTrajectoryPoint actual;
+      trajectory_msgs::JointTrajectoryPoint error;
+
+    JointTrajectoryControllerState():
+      header(),
+      joint_names_length(0), joint_names(NULL),
+      desired(),
+      actual(),
+      error()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = joint_names_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < joint_names_length; i++){
+      uint32_t length_joint_namesi = strlen(this->joint_names[i]);
+      memcpy(outbuffer + offset, &length_joint_namesi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
+      offset += length_joint_namesi;
+      }
+      offset += this->desired.serialize(outbuffer + offset);
+      offset += this->actual.serialize(outbuffer + offset);
+      offset += this->error.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t joint_names_lengthT = *(inbuffer + offset++);
+      if(joint_names_lengthT > joint_names_length)
+        this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
+      offset += 3;
+      joint_names_length = joint_names_lengthT;
+      for( uint8_t i = 0; i < joint_names_length; i++){
+      uint32_t length_st_joint_names;
+      memcpy(&length_st_joint_names, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_joint_names-1]=0;
+      this->st_joint_names = (char *)(inbuffer + offset-1);
+      offset += length_st_joint_names;
+        memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
+      }
+      offset += this->desired.deserialize(inbuffer + offset);
+      offset += this->actual.deserialize(inbuffer + offset);
+      offset += this->error.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/JointTrajectoryControllerState"; };
+    const char * getMD5(){ return "10817c60c2486ef6b33e97dcd87f4474"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/JointTrajectoryFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/JointTrajectoryFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,38 @@
+#ifndef _ROS_control_msgs_JointTrajectoryFeedback_h
+#define _ROS_control_msgs_JointTrajectoryFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace control_msgs
+{
+
+  class JointTrajectoryFeedback : public ros::Msg
+  {
+    public:
+
+    JointTrajectoryFeedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/JointTrajectoryFeedback"; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/JointTrajectoryGoal.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/JointTrajectoryGoal.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,43 @@
+#ifndef _ROS_control_msgs_JointTrajectoryGoal_h
+#define _ROS_control_msgs_JointTrajectoryGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "trajectory_msgs/JointTrajectory.h"
+
+namespace control_msgs
+{
+
+  class JointTrajectoryGoal : public ros::Msg
+  {
+    public:
+      trajectory_msgs::JointTrajectory trajectory;
+
+    JointTrajectoryGoal():
+      trajectory()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->trajectory.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->trajectory.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/JointTrajectoryGoal"; };
+    const char * getMD5(){ return "2a0eff76c870e8595636c2a562ca298e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/JointTrajectoryResult.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/JointTrajectoryResult.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,38 @@
+#ifndef _ROS_control_msgs_JointTrajectoryResult_h
+#define _ROS_control_msgs_JointTrajectoryResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace control_msgs
+{
+
+  class JointTrajectoryResult : public ros::Msg
+  {
+    public:
+
+    JointTrajectoryResult()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/JointTrajectoryResult"; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/PointHeadAction.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/PointHeadAction.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_control_msgs_PointHeadAction_h
+#define _ROS_control_msgs_PointHeadAction_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "control_msgs/PointHeadActionGoal.h"
+#include "control_msgs/PointHeadActionResult.h"
+#include "control_msgs/PointHeadActionFeedback.h"
+
+namespace control_msgs
+{
+
+  class PointHeadAction : public ros::Msg
+  {
+    public:
+      control_msgs::PointHeadActionGoal action_goal;
+      control_msgs::PointHeadActionResult action_result;
+      control_msgs::PointHeadActionFeedback action_feedback;
+
+    PointHeadAction():
+      action_goal(),
+      action_result(),
+      action_feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->action_goal.serialize(outbuffer + offset);
+      offset += this->action_result.serialize(outbuffer + offset);
+      offset += this->action_feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->action_goal.deserialize(inbuffer + offset);
+      offset += this->action_result.deserialize(inbuffer + offset);
+      offset += this->action_feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/PointHeadAction"; };
+    const char * getMD5(){ return "7252920f1243de1b741f14f214125371"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/PointHeadActionFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/PointHeadActionFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_control_msgs_PointHeadActionFeedback_h
+#define _ROS_control_msgs_PointHeadActionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "control_msgs/PointHeadFeedback.h"
+
+namespace control_msgs
+{
+
+  class PointHeadActionFeedback : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalStatus status;
+      control_msgs::PointHeadFeedback feedback;
+
+    PointHeadActionFeedback():
+      header(),
+      status(),
+      feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/PointHeadActionFeedback"; };
+    const char * getMD5(){ return "33c9244957176bbba97dd641119e8460"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/PointHeadActionGoal.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/PointHeadActionGoal.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_control_msgs_PointHeadActionGoal_h
+#define _ROS_control_msgs_PointHeadActionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalID.h"
+#include "control_msgs/PointHeadGoal.h"
+
+namespace control_msgs
+{
+
+  class PointHeadActionGoal : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalID goal_id;
+      control_msgs::PointHeadGoal goal;
+
+    PointHeadActionGoal():
+      header(),
+      goal_id(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->goal_id.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/PointHeadActionGoal"; };
+    const char * getMD5(){ return "b53a8323d0ba7b310ba17a2d3a82a6b8"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/PointHeadActionResult.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/PointHeadActionResult.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_control_msgs_PointHeadActionResult_h
+#define _ROS_control_msgs_PointHeadActionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "control_msgs/PointHeadResult.h"
+
+namespace control_msgs
+{
+
+  class PointHeadActionResult : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalStatus status;
+      control_msgs::PointHeadResult result;
+
+    PointHeadActionResult():
+      header(),
+      status(),
+      result()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->result.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->result.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/PointHeadActionResult"; };
+    const char * getMD5(){ return "1eb06eeff08fa7ea874431638cb52332"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/PointHeadFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/PointHeadFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,69 @@
+#ifndef _ROS_control_msgs_PointHeadFeedback_h
+#define _ROS_control_msgs_PointHeadFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace control_msgs
+{
+
+  class PointHeadFeedback : public ros::Msg
+  {
+    public:
+      double pointing_angle_error;
+
+    PointHeadFeedback():
+      pointing_angle_error(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_pointing_angle_error;
+      u_pointing_angle_error.real = this->pointing_angle_error;
+      *(outbuffer + offset + 0) = (u_pointing_angle_error.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_pointing_angle_error.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_pointing_angle_error.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_pointing_angle_error.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_pointing_angle_error.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_pointing_angle_error.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_pointing_angle_error.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_pointing_angle_error.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->pointing_angle_error);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_pointing_angle_error;
+      u_pointing_angle_error.base = 0;
+      u_pointing_angle_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_pointing_angle_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_pointing_angle_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_pointing_angle_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_pointing_angle_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_pointing_angle_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_pointing_angle_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_pointing_angle_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->pointing_angle_error = u_pointing_angle_error.real;
+      offset += sizeof(this->pointing_angle_error);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/PointHeadFeedback"; };
+    const char * getMD5(){ return "cce80d27fd763682da8805a73316cab4"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/PointHeadGoal.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/PointHeadGoal.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,118 @@
+#ifndef _ROS_control_msgs_PointHeadGoal_h
+#define _ROS_control_msgs_PointHeadGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/PointStamped.h"
+#include "geometry_msgs/Vector3.h"
+#include "ros/duration.h"
+
+namespace control_msgs
+{
+
+  class PointHeadGoal : public ros::Msg
+  {
+    public:
+      geometry_msgs::PointStamped target;
+      geometry_msgs::Vector3 pointing_axis;
+      const char* pointing_frame;
+      ros::Duration min_duration;
+      double max_velocity;
+
+    PointHeadGoal():
+      target(),
+      pointing_axis(),
+      pointing_frame(""),
+      min_duration(),
+      max_velocity(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->target.serialize(outbuffer + offset);
+      offset += this->pointing_axis.serialize(outbuffer + offset);
+      uint32_t length_pointing_frame = strlen(this->pointing_frame);
+      memcpy(outbuffer + offset, &length_pointing_frame, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->pointing_frame, length_pointing_frame);
+      offset += length_pointing_frame;
+      *(outbuffer + offset + 0) = (this->min_duration.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->min_duration.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->min_duration.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->min_duration.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->min_duration.sec);
+      *(outbuffer + offset + 0) = (this->min_duration.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->min_duration.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->min_duration.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->min_duration.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->min_duration.nsec);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_velocity;
+      u_max_velocity.real = this->max_velocity;
+      *(outbuffer + offset + 0) = (u_max_velocity.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_max_velocity.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_max_velocity.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_max_velocity.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_max_velocity.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_max_velocity.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_max_velocity.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_max_velocity.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->max_velocity);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->target.deserialize(inbuffer + offset);
+      offset += this->pointing_axis.deserialize(inbuffer + offset);
+      uint32_t length_pointing_frame;
+      memcpy(&length_pointing_frame, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_pointing_frame; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_pointing_frame-1]=0;
+      this->pointing_frame = (char *)(inbuffer + offset-1);
+      offset += length_pointing_frame;
+      this->min_duration.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->min_duration.sec);
+      this->min_duration.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->min_duration.nsec);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_velocity;
+      u_max_velocity.base = 0;
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->max_velocity = u_max_velocity.real;
+      offset += sizeof(this->max_velocity);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/PointHeadGoal"; };
+    const char * getMD5(){ return "8b92b1cd5e06c8a94c917dc3209a4c1d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/PointHeadResult.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/PointHeadResult.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,38 @@
+#ifndef _ROS_control_msgs_PointHeadResult_h
+#define _ROS_control_msgs_PointHeadResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace control_msgs
+{
+
+  class PointHeadResult : public ros::Msg
+  {
+    public:
+
+    PointHeadResult()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/PointHeadResult"; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/QueryCalibrationState.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/QueryCalibrationState.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,87 @@
+#ifndef _ROS_SERVICE_QueryCalibrationState_h
+#define _ROS_SERVICE_QueryCalibrationState_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace control_msgs
+{
+
+static const char QUERYCALIBRATIONSTATE[] = "control_msgs/QueryCalibrationState";
+
+  class QueryCalibrationStateRequest : public ros::Msg
+  {
+    public:
+
+    QueryCalibrationStateRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return QUERYCALIBRATIONSTATE; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class QueryCalibrationStateResponse : public ros::Msg
+  {
+    public:
+      bool is_calibrated;
+
+    QueryCalibrationStateResponse():
+      is_calibrated(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_calibrated;
+      u_is_calibrated.real = this->is_calibrated;
+      *(outbuffer + offset + 0) = (u_is_calibrated.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->is_calibrated);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_calibrated;
+      u_is_calibrated.base = 0;
+      u_is_calibrated.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->is_calibrated = u_is_calibrated.real;
+      offset += sizeof(this->is_calibrated);
+     return offset;
+    }
+
+    const char * getType(){ return QUERYCALIBRATIONSTATE; };
+    const char * getMD5(){ return "28af3beedcb84986b8e470dc5470507d"; };
+
+  };
+
+  class QueryCalibrationState {
+    public:
+    typedef QueryCalibrationStateRequest Request;
+    typedef QueryCalibrationStateResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 control_msgs/QueryTrajectoryState.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/QueryTrajectoryState.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,266 @@
+#ifndef _ROS_SERVICE_QueryTrajectoryState_h
+#define _ROS_SERVICE_QueryTrajectoryState_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/time.h"
+
+namespace control_msgs
+{
+
+static const char QUERYTRAJECTORYSTATE[] = "control_msgs/QueryTrajectoryState";
+
+  class QueryTrajectoryStateRequest : public ros::Msg
+  {
+    public:
+      ros::Time time;
+
+    QueryTrajectoryStateRequest():
+      time()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->time.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->time.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->time.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->time.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time.sec);
+      *(outbuffer + offset + 0) = (this->time.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->time.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->time.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->time.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->time.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->time.sec);
+      this->time.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->time.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return QUERYTRAJECTORYSTATE; };
+    const char * getMD5(){ return "556a4fb76023a469987922359d08a844"; };
+
+  };
+
+  class QueryTrajectoryStateResponse : public ros::Msg
+  {
+    public:
+      uint8_t name_length;
+      char* st_name;
+      char* * name;
+      uint8_t position_length;
+      double st_position;
+      double * position;
+      uint8_t velocity_length;
+      double st_velocity;
+      double * velocity;
+      uint8_t acceleration_length;
+      double st_acceleration;
+      double * acceleration;
+
+    QueryTrajectoryStateResponse():
+      name_length(0), name(NULL),
+      position_length(0), position(NULL),
+      velocity_length(0), velocity(NULL),
+      acceleration_length(0), acceleration(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = name_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < name_length; i++){
+      uint32_t length_namei = strlen(this->name[i]);
+      memcpy(outbuffer + offset, &length_namei, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name[i], length_namei);
+      offset += length_namei;
+      }
+      *(outbuffer + offset++) = position_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < position_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_positioni;
+      u_positioni.real = this->position[i];
+      *(outbuffer + offset + 0) = (u_positioni.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_positioni.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_positioni.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_positioni.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_positioni.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_positioni.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_positioni.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_positioni.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->position[i]);
+      }
+      *(outbuffer + offset++) = velocity_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < velocity_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_velocityi;
+      u_velocityi.real = this->velocity[i];
+      *(outbuffer + offset + 0) = (u_velocityi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_velocityi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_velocityi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_velocityi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_velocityi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_velocityi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_velocityi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_velocityi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->velocity[i]);
+      }
+      *(outbuffer + offset++) = acceleration_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < acceleration_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_accelerationi;
+      u_accelerationi.real = this->acceleration[i];
+      *(outbuffer + offset + 0) = (u_accelerationi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_accelerationi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_accelerationi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_accelerationi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_accelerationi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_accelerationi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_accelerationi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_accelerationi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->acceleration[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t name_lengthT = *(inbuffer + offset++);
+      if(name_lengthT > name_length)
+        this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
+      offset += 3;
+      name_length = name_lengthT;
+      for( uint8_t i = 0; i < name_length; i++){
+      uint32_t length_st_name;
+      memcpy(&length_st_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_name-1]=0;
+      this->st_name = (char *)(inbuffer + offset-1);
+      offset += length_st_name;
+        memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
+      }
+      uint8_t position_lengthT = *(inbuffer + offset++);
+      if(position_lengthT > position_length)
+        this->position = (double*)realloc(this->position, position_lengthT * sizeof(double));
+      offset += 3;
+      position_length = position_lengthT;
+      for( uint8_t i = 0; i < position_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_position;
+      u_st_position.base = 0;
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_position = u_st_position.real;
+      offset += sizeof(this->st_position);
+        memcpy( &(this->position[i]), &(this->st_position), sizeof(double));
+      }
+      uint8_t velocity_lengthT = *(inbuffer + offset++);
+      if(velocity_lengthT > velocity_length)
+        this->velocity = (double*)realloc(this->velocity, velocity_lengthT * sizeof(double));
+      offset += 3;
+      velocity_length = velocity_lengthT;
+      for( uint8_t i = 0; i < velocity_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_velocity;
+      u_st_velocity.base = 0;
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_velocity = u_st_velocity.real;
+      offset += sizeof(this->st_velocity);
+        memcpy( &(this->velocity[i]), &(this->st_velocity), sizeof(double));
+      }
+      uint8_t acceleration_lengthT = *(inbuffer + offset++);
+      if(acceleration_lengthT > acceleration_length)
+        this->acceleration = (double*)realloc(this->acceleration, acceleration_lengthT * sizeof(double));
+      offset += 3;
+      acceleration_length = acceleration_lengthT;
+      for( uint8_t i = 0; i < acceleration_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_acceleration;
+      u_st_acceleration.base = 0;
+      u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_acceleration.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_acceleration = u_st_acceleration.real;
+      offset += sizeof(this->st_acceleration);
+        memcpy( &(this->acceleration[i]), &(this->st_acceleration), sizeof(double));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return QUERYTRAJECTORYSTATE; };
+    const char * getMD5(){ return "1f1a6554ad060f44d013e71868403c1a"; };
+
+  };
+
+  class QueryTrajectoryState {
+    public:
+    typedef QueryTrajectoryStateRequest Request;
+    typedef QueryTrajectoryStateResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 control_msgs/SingleJointPositionAction.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/SingleJointPositionAction.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_control_msgs_SingleJointPositionAction_h
+#define _ROS_control_msgs_SingleJointPositionAction_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "control_msgs/SingleJointPositionActionGoal.h"
+#include "control_msgs/SingleJointPositionActionResult.h"
+#include "control_msgs/SingleJointPositionActionFeedback.h"
+
+namespace control_msgs
+{
+
+  class SingleJointPositionAction : public ros::Msg
+  {
+    public:
+      control_msgs::SingleJointPositionActionGoal action_goal;
+      control_msgs::SingleJointPositionActionResult action_result;
+      control_msgs::SingleJointPositionActionFeedback action_feedback;
+
+    SingleJointPositionAction():
+      action_goal(),
+      action_result(),
+      action_feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->action_goal.serialize(outbuffer + offset);
+      offset += this->action_result.serialize(outbuffer + offset);
+      offset += this->action_feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->action_goal.deserialize(inbuffer + offset);
+      offset += this->action_result.deserialize(inbuffer + offset);
+      offset += this->action_feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/SingleJointPositionAction"; };
+    const char * getMD5(){ return "c4a786b7d53e5d0983decf967a5a779e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/SingleJointPositionActionFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/SingleJointPositionActionFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_control_msgs_SingleJointPositionActionFeedback_h
+#define _ROS_control_msgs_SingleJointPositionActionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "control_msgs/SingleJointPositionFeedback.h"
+
+namespace control_msgs
+{
+
+  class SingleJointPositionActionFeedback : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalStatus status;
+      control_msgs::SingleJointPositionFeedback feedback;
+
+    SingleJointPositionActionFeedback():
+      header(),
+      status(),
+      feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/SingleJointPositionActionFeedback"; };
+    const char * getMD5(){ return "3503b7cf8972f90d245850a5d8796cfa"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/SingleJointPositionActionGoal.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/SingleJointPositionActionGoal.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_control_msgs_SingleJointPositionActionGoal_h
+#define _ROS_control_msgs_SingleJointPositionActionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalID.h"
+#include "control_msgs/SingleJointPositionGoal.h"
+
+namespace control_msgs
+{
+
+  class SingleJointPositionActionGoal : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalID goal_id;
+      control_msgs::SingleJointPositionGoal goal;
+
+    SingleJointPositionActionGoal():
+      header(),
+      goal_id(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->goal_id.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/SingleJointPositionActionGoal"; };
+    const char * getMD5(){ return "4b0d3d091471663e17749c1d0db90f61"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/SingleJointPositionActionResult.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/SingleJointPositionActionResult.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_control_msgs_SingleJointPositionActionResult_h
+#define _ROS_control_msgs_SingleJointPositionActionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "control_msgs/SingleJointPositionResult.h"
+
+namespace control_msgs
+{
+
+  class SingleJointPositionActionResult : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalStatus status;
+      control_msgs::SingleJointPositionResult result;
+
+    SingleJointPositionActionResult():
+      header(),
+      status(),
+      result()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->result.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->result.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/SingleJointPositionActionResult"; };
+    const char * getMD5(){ return "1eb06eeff08fa7ea874431638cb52332"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/SingleJointPositionFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/SingleJointPositionFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,136 @@
+#ifndef _ROS_control_msgs_SingleJointPositionFeedback_h
+#define _ROS_control_msgs_SingleJointPositionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace control_msgs
+{
+
+  class SingleJointPositionFeedback : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      double position;
+      double velocity;
+      double error;
+
+    SingleJointPositionFeedback():
+      header(),
+      position(0),
+      velocity(0),
+      error(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_position;
+      u_position.real = this->position;
+      *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->position);
+      union {
+        double real;
+        uint64_t base;
+      } u_velocity;
+      u_velocity.real = this->velocity;
+      *(outbuffer + offset + 0) = (u_velocity.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_velocity.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_velocity.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_velocity.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_velocity.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_velocity.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_velocity.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_velocity.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->velocity);
+      union {
+        double real;
+        uint64_t base;
+      } u_error;
+      u_error.real = this->error;
+      *(outbuffer + offset + 0) = (u_error.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_error.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_error.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_error.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_error.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_error.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_error.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_error.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->error);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_position;
+      u_position.base = 0;
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->position = u_position.real;
+      offset += sizeof(this->position);
+      union {
+        double real;
+        uint64_t base;
+      } u_velocity;
+      u_velocity.base = 0;
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->velocity = u_velocity.real;
+      offset += sizeof(this->velocity);
+      union {
+        double real;
+        uint64_t base;
+      } u_error;
+      u_error.base = 0;
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_error.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->error = u_error.real;
+      offset += sizeof(this->error);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/SingleJointPositionFeedback"; };
+    const char * getMD5(){ return "8cee65610a3d08e0a1bded82f146f1fd"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/SingleJointPositionGoal.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/SingleJointPositionGoal.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,123 @@
+#ifndef _ROS_control_msgs_SingleJointPositionGoal_h
+#define _ROS_control_msgs_SingleJointPositionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/duration.h"
+
+namespace control_msgs
+{
+
+  class SingleJointPositionGoal : public ros::Msg
+  {
+    public:
+      double position;
+      ros::Duration min_duration;
+      double max_velocity;
+
+    SingleJointPositionGoal():
+      position(0),
+      min_duration(),
+      max_velocity(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_position;
+      u_position.real = this->position;
+      *(outbuffer + offset + 0) = (u_position.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_position.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_position.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_position.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_position.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_position.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_position.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_position.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->position);
+      *(outbuffer + offset + 0) = (this->min_duration.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->min_duration.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->min_duration.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->min_duration.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->min_duration.sec);
+      *(outbuffer + offset + 0) = (this->min_duration.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->min_duration.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->min_duration.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->min_duration.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->min_duration.nsec);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_velocity;
+      u_max_velocity.real = this->max_velocity;
+      *(outbuffer + offset + 0) = (u_max_velocity.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_max_velocity.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_max_velocity.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_max_velocity.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_max_velocity.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_max_velocity.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_max_velocity.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_max_velocity.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->max_velocity);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_position;
+      u_position.base = 0;
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->position = u_position.real;
+      offset += sizeof(this->position);
+      this->min_duration.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->min_duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->min_duration.sec);
+      this->min_duration.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->min_duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->min_duration.nsec);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_velocity;
+      u_max_velocity.base = 0;
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_max_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->max_velocity = u_max_velocity.real;
+      offset += sizeof(this->max_velocity);
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/SingleJointPositionGoal"; };
+    const char * getMD5(){ return "fbaaa562a23a013fd5053e5f72cbb35c"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 control_msgs/SingleJointPositionResult.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/SingleJointPositionResult.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,38 @@
+#ifndef _ROS_control_msgs_SingleJointPositionResult_h
+#define _ROS_control_msgs_SingleJointPositionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace control_msgs
+{
+
+  class SingleJointPositionResult : public ros::Msg
+  {
+    public:
+
+    SingleJointPositionResult()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "control_msgs/SingleJointPositionResult"; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 diagnostic_msgs/DiagnosticArray.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/diagnostic_msgs/DiagnosticArray.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,64 @@
+#ifndef _ROS_diagnostic_msgs_DiagnosticArray_h
+#define _ROS_diagnostic_msgs_DiagnosticArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "diagnostic_msgs/DiagnosticStatus.h"
+
+namespace diagnostic_msgs
+{
+
+  class DiagnosticArray : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t status_length;
+      diagnostic_msgs::DiagnosticStatus st_status;
+      diagnostic_msgs::DiagnosticStatus * status;
+
+    DiagnosticArray():
+      header(),
+      status_length(0), status(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = status_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < status_length; i++){
+      offset += this->status[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t status_lengthT = *(inbuffer + offset++);
+      if(status_lengthT > status_length)
+        this->status = (diagnostic_msgs::DiagnosticStatus*)realloc(this->status, status_lengthT * sizeof(diagnostic_msgs::DiagnosticStatus));
+      offset += 3;
+      status_length = status_lengthT;
+      for( uint8_t i = 0; i < status_length; i++){
+      offset += this->st_status.deserialize(inbuffer + offset);
+        memcpy( &(this->status[i]), &(this->st_status), sizeof(diagnostic_msgs::DiagnosticStatus));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "diagnostic_msgs/DiagnosticArray"; };
+    const char * getMD5(){ return "60810da900de1dd6ddd437c3503511da"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 diagnostic_msgs/DiagnosticStatus.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/diagnostic_msgs/DiagnosticStatus.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,128 @@
+#ifndef _ROS_diagnostic_msgs_DiagnosticStatus_h
+#define _ROS_diagnostic_msgs_DiagnosticStatus_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "diagnostic_msgs/KeyValue.h"
+
+namespace diagnostic_msgs
+{
+
+  class DiagnosticStatus : public ros::Msg
+  {
+    public:
+      int8_t level;
+      const char* name;
+      const char* message;
+      const char* hardware_id;
+      uint8_t values_length;
+      diagnostic_msgs::KeyValue st_values;
+      diagnostic_msgs::KeyValue * values;
+      enum { OK = 0 };
+      enum { WARN = 1 };
+      enum { ERROR = 2 };
+      enum { STALE = 3 };
+
+    DiagnosticStatus():
+      level(0),
+      name(""),
+      message(""),
+      hardware_id(""),
+      values_length(0), values(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_level;
+      u_level.real = this->level;
+      *(outbuffer + offset + 0) = (u_level.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->level);
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      uint32_t length_message = strlen(this->message);
+      memcpy(outbuffer + offset, &length_message, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->message, length_message);
+      offset += length_message;
+      uint32_t length_hardware_id = strlen(this->hardware_id);
+      memcpy(outbuffer + offset, &length_hardware_id, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->hardware_id, length_hardware_id);
+      offset += length_hardware_id;
+      *(outbuffer + offset++) = values_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < values_length; i++){
+      offset += this->values[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_level;
+      u_level.base = 0;
+      u_level.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->level = u_level.real;
+      offset += sizeof(this->level);
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      uint32_t length_message;
+      memcpy(&length_message, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_message-1]=0;
+      this->message = (char *)(inbuffer + offset-1);
+      offset += length_message;
+      uint32_t length_hardware_id;
+      memcpy(&length_hardware_id, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_hardware_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_hardware_id-1]=0;
+      this->hardware_id = (char *)(inbuffer + offset-1);
+      offset += length_hardware_id;
+      uint8_t values_lengthT = *(inbuffer + offset++);
+      if(values_lengthT > values_length)
+        this->values = (diagnostic_msgs::KeyValue*)realloc(this->values, values_lengthT * sizeof(diagnostic_msgs::KeyValue));
+      offset += 3;
+      values_length = values_lengthT;
+      for( uint8_t i = 0; i < values_length; i++){
+      offset += this->st_values.deserialize(inbuffer + offset);
+        memcpy( &(this->values[i]), &(this->st_values), sizeof(diagnostic_msgs::KeyValue));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "diagnostic_msgs/DiagnosticStatus"; };
+    const char * getMD5(){ return "d0ce08bc6e5ba34c7754f563a9cabaf1"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 diagnostic_msgs/KeyValue.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/diagnostic_msgs/KeyValue.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,70 @@
+#ifndef _ROS_diagnostic_msgs_KeyValue_h
+#define _ROS_diagnostic_msgs_KeyValue_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace diagnostic_msgs
+{
+
+  class KeyValue : public ros::Msg
+  {
+    public:
+      const char* key;
+      const char* value;
+
+    KeyValue():
+      key(""),
+      value("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_key = strlen(this->key);
+      memcpy(outbuffer + offset, &length_key, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->key, length_key);
+      offset += length_key;
+      uint32_t length_value = strlen(this->value);
+      memcpy(outbuffer + offset, &length_value, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->value, length_value);
+      offset += length_value;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_key;
+      memcpy(&length_key, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_key; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_key-1]=0;
+      this->key = (char *)(inbuffer + offset-1);
+      offset += length_key;
+      uint32_t length_value;
+      memcpy(&length_value, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_value; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_value-1]=0;
+      this->value = (char *)(inbuffer + offset-1);
+      offset += length_value;
+     return offset;
+    }
+
+    const char * getType(){ return "diagnostic_msgs/KeyValue"; };
+    const char * getMD5(){ return "cf57fdc6617a881a88c16e768132149c"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 diagnostic_msgs/SelfTest.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/diagnostic_msgs/SelfTest.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,124 @@
+#ifndef _ROS_SERVICE_SelfTest_h
+#define _ROS_SERVICE_SelfTest_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "diagnostic_msgs/DiagnosticStatus.h"
+
+namespace diagnostic_msgs
+{
+
+static const char SELFTEST[] = "diagnostic_msgs/SelfTest";
+
+  class SelfTestRequest : public ros::Msg
+  {
+    public:
+
+    SelfTestRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return SELFTEST; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class SelfTestResponse : public ros::Msg
+  {
+    public:
+      const char* id;
+      int8_t passed;
+      uint8_t status_length;
+      diagnostic_msgs::DiagnosticStatus st_status;
+      diagnostic_msgs::DiagnosticStatus * status;
+
+    SelfTestResponse():
+      id(""),
+      passed(0),
+      status_length(0), status(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_id = strlen(this->id);
+      memcpy(outbuffer + offset, &length_id, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->id, length_id);
+      offset += length_id;
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_passed;
+      u_passed.real = this->passed;
+      *(outbuffer + offset + 0) = (u_passed.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->passed);
+      *(outbuffer + offset++) = status_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < status_length; i++){
+      offset += this->status[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_id;
+      memcpy(&length_id, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_id-1]=0;
+      this->id = (char *)(inbuffer + offset-1);
+      offset += length_id;
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_passed;
+      u_passed.base = 0;
+      u_passed.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->passed = u_passed.real;
+      offset += sizeof(this->passed);
+      uint8_t status_lengthT = *(inbuffer + offset++);
+      if(status_lengthT > status_length)
+        this->status = (diagnostic_msgs::DiagnosticStatus*)realloc(this->status, status_lengthT * sizeof(diagnostic_msgs::DiagnosticStatus));
+      offset += 3;
+      status_length = status_lengthT;
+      for( uint8_t i = 0; i < status_length; i++){
+      offset += this->st_status.deserialize(inbuffer + offset);
+        memcpy( &(this->status[i]), &(this->st_status), sizeof(diagnostic_msgs::DiagnosticStatus));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return SELFTEST; };
+    const char * getMD5(){ return "ac21b1bab7ab17546986536c22eb34e9"; };
+
+  };
+
+  class SelfTest {
+    public:
+    typedef SelfTestRequest Request;
+    typedef SelfTestResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 driver_base/ConfigString.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/driver_base/ConfigString.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,70 @@
+#ifndef _ROS_driver_base_ConfigString_h
+#define _ROS_driver_base_ConfigString_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace driver_base
+{
+
+  class ConfigString : public ros::Msg
+  {
+    public:
+      const char* name;
+      const char* value;
+
+    ConfigString():
+      name(""),
+      value("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      uint32_t length_value = strlen(this->value);
+      memcpy(outbuffer + offset, &length_value, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->value, length_value);
+      offset += length_value;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      uint32_t length_value;
+      memcpy(&length_value, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_value; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_value-1]=0;
+      this->value = (char *)(inbuffer + offset-1);
+      offset += length_value;
+     return offset;
+    }
+
+    const char * getType(){ return "driver_base/ConfigString"; };
+    const char * getMD5(){ return "bc6ccc4a57f61779c8eaae61e9f422e0"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 driver_base/ConfigValue.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/driver_base/ConfigValue.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,85 @@
+#ifndef _ROS_driver_base_ConfigValue_h
+#define _ROS_driver_base_ConfigValue_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace driver_base
+{
+
+  class ConfigValue : public ros::Msg
+  {
+    public:
+      const char* name;
+      double value;
+
+    ConfigValue():
+      name(""),
+      value(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      union {
+        double real;
+        uint64_t base;
+      } u_value;
+      u_value.real = this->value;
+      *(outbuffer + offset + 0) = (u_value.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_value.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_value.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_value.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_value.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_value.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_value.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_value.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->value);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      union {
+        double real;
+        uint64_t base;
+      } u_value;
+      u_value.base = 0;
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->value = u_value.real;
+      offset += sizeof(this->value);
+     return offset;
+    }
+
+    const char * getType(){ return "driver_base/ConfigValue"; };
+    const char * getMD5(){ return "d8512f27253c0f65f928a67c329cd658"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 driver_base/SensorLevels.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/driver_base/SensorLevels.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,41 @@
+#ifndef _ROS_driver_base_SensorLevels_h
+#define _ROS_driver_base_SensorLevels_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace driver_base
+{
+
+  class SensorLevels : public ros::Msg
+  {
+    public:
+      enum { RECONFIGURE_CLOSE =  3   };
+      enum { RECONFIGURE_STOP =  1   };
+      enum { RECONFIGURE_RUNNING =  0  };
+
+    SensorLevels()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "driver_base/SensorLevels"; };
+    const char * getMD5(){ return "6322637bee96d5489db6e2127c47602c"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 duration.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/duration.cpp	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,81 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include <math.h>
+#include "ros/duration.h"
+
+namespace ros
+{
+  void normalizeSecNSecSigned(int32_t &sec, int32_t &nsec)
+  {
+    int32_t nsec_part = nsec;
+    int32_t sec_part = sec;
+
+    while (nsec_part > 1000000000L)
+    {
+      nsec_part -= 1000000000L;
+      ++sec_part;
+    }
+    while (nsec_part < 0)
+    {
+      nsec_part += 1000000000L;
+      --sec_part;
+    }
+    sec = sec_part;
+    nsec = nsec_part;
+  }
+
+  Duration& Duration::operator+=(const Duration &rhs)
+  {
+    sec += rhs.sec;
+    nsec += rhs.nsec;
+    normalizeSecNSecSigned(sec, nsec);
+    return *this;
+  }
+
+  Duration& Duration::operator-=(const Duration &rhs){
+    sec += -rhs.sec;
+    nsec += -rhs.nsec;
+    normalizeSecNSecSigned(sec, nsec);
+    return *this;
+  }
+
+  Duration& Duration::operator*=(double scale){
+    sec *= scale;
+    nsec *= scale;
+    normalizeSecNSecSigned(sec, nsec);
+    return *this;
+  }
+
+}
diff -r 000000000000 -r a906bb7c7831 dynamic_reconfigure/BoolParameter.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/dynamic_reconfigure/BoolParameter.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,71 @@
+#ifndef _ROS_dynamic_reconfigure_BoolParameter_h
+#define _ROS_dynamic_reconfigure_BoolParameter_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace dynamic_reconfigure
+{
+
+  class BoolParameter : public ros::Msg
+  {
+    public:
+      const char* name;
+      bool value;
+
+    BoolParameter():
+      name(""),
+      value(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      union {
+        bool real;
+        uint8_t base;
+      } u_value;
+      u_value.real = this->value;
+      *(outbuffer + offset + 0) = (u_value.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->value);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      union {
+        bool real;
+        uint8_t base;
+      } u_value;
+      u_value.base = 0;
+      u_value.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->value = u_value.real;
+      offset += sizeof(this->value);
+     return offset;
+    }
+
+    const char * getType(){ return "dynamic_reconfigure/BoolParameter"; };
+    const char * getMD5(){ return "23f05028c1a699fb83e22401228c3a9e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 dynamic_reconfigure/Config.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/dynamic_reconfigure/Config.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,143 @@
+#ifndef _ROS_dynamic_reconfigure_Config_h
+#define _ROS_dynamic_reconfigure_Config_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "dynamic_reconfigure/BoolParameter.h"
+#include "dynamic_reconfigure/IntParameter.h"
+#include "dynamic_reconfigure/StrParameter.h"
+#include "dynamic_reconfigure/DoubleParameter.h"
+#include "dynamic_reconfigure/GroupState.h"
+
+namespace dynamic_reconfigure
+{
+
+  class Config : public ros::Msg
+  {
+    public:
+      uint8_t bools_length;
+      dynamic_reconfigure::BoolParameter st_bools;
+      dynamic_reconfigure::BoolParameter * bools;
+      uint8_t ints_length;
+      dynamic_reconfigure::IntParameter st_ints;
+      dynamic_reconfigure::IntParameter * ints;
+      uint8_t strs_length;
+      dynamic_reconfigure::StrParameter st_strs;
+      dynamic_reconfigure::StrParameter * strs;
+      uint8_t doubles_length;
+      dynamic_reconfigure::DoubleParameter st_doubles;
+      dynamic_reconfigure::DoubleParameter * doubles;
+      uint8_t groups_length;
+      dynamic_reconfigure::GroupState st_groups;
+      dynamic_reconfigure::GroupState * groups;
+
+    Config():
+      bools_length(0), bools(NULL),
+      ints_length(0), ints(NULL),
+      strs_length(0), strs(NULL),
+      doubles_length(0), doubles(NULL),
+      groups_length(0), groups(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = bools_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < bools_length; i++){
+      offset += this->bools[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = ints_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < ints_length; i++){
+      offset += this->ints[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = strs_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < strs_length; i++){
+      offset += this->strs[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = doubles_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < doubles_length; i++){
+      offset += this->doubles[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = groups_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < groups_length; i++){
+      offset += this->groups[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t bools_lengthT = *(inbuffer + offset++);
+      if(bools_lengthT > bools_length)
+        this->bools = (dynamic_reconfigure::BoolParameter*)realloc(this->bools, bools_lengthT * sizeof(dynamic_reconfigure::BoolParameter));
+      offset += 3;
+      bools_length = bools_lengthT;
+      for( uint8_t i = 0; i < bools_length; i++){
+      offset += this->st_bools.deserialize(inbuffer + offset);
+        memcpy( &(this->bools[i]), &(this->st_bools), sizeof(dynamic_reconfigure::BoolParameter));
+      }
+      uint8_t ints_lengthT = *(inbuffer + offset++);
+      if(ints_lengthT > ints_length)
+        this->ints = (dynamic_reconfigure::IntParameter*)realloc(this->ints, ints_lengthT * sizeof(dynamic_reconfigure::IntParameter));
+      offset += 3;
+      ints_length = ints_lengthT;
+      for( uint8_t i = 0; i < ints_length; i++){
+      offset += this->st_ints.deserialize(inbuffer + offset);
+        memcpy( &(this->ints[i]), &(this->st_ints), sizeof(dynamic_reconfigure::IntParameter));
+      }
+      uint8_t strs_lengthT = *(inbuffer + offset++);
+      if(strs_lengthT > strs_length)
+        this->strs = (dynamic_reconfigure::StrParameter*)realloc(this->strs, strs_lengthT * sizeof(dynamic_reconfigure::StrParameter));
+      offset += 3;
+      strs_length = strs_lengthT;
+      for( uint8_t i = 0; i < strs_length; i++){
+      offset += this->st_strs.deserialize(inbuffer + offset);
+        memcpy( &(this->strs[i]), &(this->st_strs), sizeof(dynamic_reconfigure::StrParameter));
+      }
+      uint8_t doubles_lengthT = *(inbuffer + offset++);
+      if(doubles_lengthT > doubles_length)
+        this->doubles = (dynamic_reconfigure::DoubleParameter*)realloc(this->doubles, doubles_lengthT * sizeof(dynamic_reconfigure::DoubleParameter));
+      offset += 3;
+      doubles_length = doubles_lengthT;
+      for( uint8_t i = 0; i < doubles_length; i++){
+      offset += this->st_doubles.deserialize(inbuffer + offset);
+        memcpy( &(this->doubles[i]), &(this->st_doubles), sizeof(dynamic_reconfigure::DoubleParameter));
+      }
+      uint8_t groups_lengthT = *(inbuffer + offset++);
+      if(groups_lengthT > groups_length)
+        this->groups = (dynamic_reconfigure::GroupState*)realloc(this->groups, groups_lengthT * sizeof(dynamic_reconfigure::GroupState));
+      offset += 3;
+      groups_length = groups_lengthT;
+      for( uint8_t i = 0; i < groups_length; i++){
+      offset += this->st_groups.deserialize(inbuffer + offset);
+        memcpy( &(this->groups[i]), &(this->st_groups), sizeof(dynamic_reconfigure::GroupState));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "dynamic_reconfigure/Config"; };
+    const char * getMD5(){ return "958f16a05573709014982821e6822580"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 dynamic_reconfigure/ConfigDescription.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/dynamic_reconfigure/ConfigDescription.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,72 @@
+#ifndef _ROS_dynamic_reconfigure_ConfigDescription_h
+#define _ROS_dynamic_reconfigure_ConfigDescription_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "dynamic_reconfigure/Group.h"
+#include "dynamic_reconfigure/Config.h"
+
+namespace dynamic_reconfigure
+{
+
+  class ConfigDescription : public ros::Msg
+  {
+    public:
+      uint8_t groups_length;
+      dynamic_reconfigure::Group st_groups;
+      dynamic_reconfigure::Group * groups;
+      dynamic_reconfigure::Config max;
+      dynamic_reconfigure::Config min;
+      dynamic_reconfigure::Config dflt;
+
+    ConfigDescription():
+      groups_length(0), groups(NULL),
+      max(),
+      min(),
+      dflt()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = groups_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < groups_length; i++){
+      offset += this->groups[i].serialize(outbuffer + offset);
+      }
+      offset += this->max.serialize(outbuffer + offset);
+      offset += this->min.serialize(outbuffer + offset);
+      offset += this->dflt.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t groups_lengthT = *(inbuffer + offset++);
+      if(groups_lengthT > groups_length)
+        this->groups = (dynamic_reconfigure::Group*)realloc(this->groups, groups_lengthT * sizeof(dynamic_reconfigure::Group));
+      offset += 3;
+      groups_length = groups_lengthT;
+      for( uint8_t i = 0; i < groups_length; i++){
+      offset += this->st_groups.deserialize(inbuffer + offset);
+        memcpy( &(this->groups[i]), &(this->st_groups), sizeof(dynamic_reconfigure::Group));
+      }
+      offset += this->max.deserialize(inbuffer + offset);
+      offset += this->min.deserialize(inbuffer + offset);
+      offset += this->dflt.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "dynamic_reconfigure/ConfigDescription"; };
+    const char * getMD5(){ return "757ce9d44ba8ddd801bb30bc456f946f"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 dynamic_reconfigure/DoubleParameter.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/dynamic_reconfigure/DoubleParameter.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,85 @@
+#ifndef _ROS_dynamic_reconfigure_DoubleParameter_h
+#define _ROS_dynamic_reconfigure_DoubleParameter_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace dynamic_reconfigure
+{
+
+  class DoubleParameter : public ros::Msg
+  {
+    public:
+      const char* name;
+      double value;
+
+    DoubleParameter():
+      name(""),
+      value(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      union {
+        double real;
+        uint64_t base;
+      } u_value;
+      u_value.real = this->value;
+      *(outbuffer + offset + 0) = (u_value.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_value.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_value.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_value.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_value.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_value.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_value.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_value.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->value);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      union {
+        double real;
+        uint64_t base;
+      } u_value;
+      u_value.base = 0;
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_value.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->value = u_value.real;
+      offset += sizeof(this->value);
+     return offset;
+    }
+
+    const char * getType(){ return "dynamic_reconfigure/DoubleParameter"; };
+    const char * getMD5(){ return "d8512f27253c0f65f928a67c329cd658"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 dynamic_reconfigure/Group.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/dynamic_reconfigure/Group.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,137 @@
+#ifndef _ROS_dynamic_reconfigure_Group_h
+#define _ROS_dynamic_reconfigure_Group_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "dynamic_reconfigure/ParamDescription.h"
+
+namespace dynamic_reconfigure
+{
+
+  class Group : public ros::Msg
+  {
+    public:
+      const char* name;
+      const char* type;
+      uint8_t parameters_length;
+      dynamic_reconfigure::ParamDescription st_parameters;
+      dynamic_reconfigure::ParamDescription * parameters;
+      int32_t parent;
+      int32_t id;
+
+    Group():
+      name(""),
+      type(""),
+      parameters_length(0), parameters(NULL),
+      parent(0),
+      id(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      uint32_t length_type = strlen(this->type);
+      memcpy(outbuffer + offset, &length_type, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->type, length_type);
+      offset += length_type;
+      *(outbuffer + offset++) = parameters_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < parameters_length; i++){
+      offset += this->parameters[i].serialize(outbuffer + offset);
+      }
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_parent;
+      u_parent.real = this->parent;
+      *(outbuffer + offset + 0) = (u_parent.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_parent.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_parent.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_parent.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->parent);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_id;
+      u_id.real = this->id;
+      *(outbuffer + offset + 0) = (u_id.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_id.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_id.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_id.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->id);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      uint32_t length_type;
+      memcpy(&length_type, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_type; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_type-1]=0;
+      this->type = (char *)(inbuffer + offset-1);
+      offset += length_type;
+      uint8_t parameters_lengthT = *(inbuffer + offset++);
+      if(parameters_lengthT > parameters_length)
+        this->parameters = (dynamic_reconfigure::ParamDescription*)realloc(this->parameters, parameters_lengthT * sizeof(dynamic_reconfigure::ParamDescription));
+      offset += 3;
+      parameters_length = parameters_lengthT;
+      for( uint8_t i = 0; i < parameters_length; i++){
+      offset += this->st_parameters.deserialize(inbuffer + offset);
+        memcpy( &(this->parameters[i]), &(this->st_parameters), sizeof(dynamic_reconfigure::ParamDescription));
+      }
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_parent;
+      u_parent.base = 0;
+      u_parent.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_parent.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_parent.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_parent.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->parent = u_parent.real;
+      offset += sizeof(this->parent);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_id;
+      u_id.base = 0;
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->id = u_id.real;
+      offset += sizeof(this->id);
+     return offset;
+    }
+
+    const char * getType(){ return "dynamic_reconfigure/Group"; };
+    const char * getMD5(){ return "9e8cd9e9423c94823db3614dd8b1cf7a"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 dynamic_reconfigure/GroupState.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/dynamic_reconfigure/GroupState.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,117 @@
+#ifndef _ROS_dynamic_reconfigure_GroupState_h
+#define _ROS_dynamic_reconfigure_GroupState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace dynamic_reconfigure
+{
+
+  class GroupState : public ros::Msg
+  {
+    public:
+      const char* name;
+      bool state;
+      int32_t id;
+      int32_t parent;
+
+    GroupState():
+      name(""),
+      state(0),
+      id(0),
+      parent(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      union {
+        bool real;
+        uint8_t base;
+      } u_state;
+      u_state.real = this->state;
+      *(outbuffer + offset + 0) = (u_state.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->state);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_id;
+      u_id.real = this->id;
+      *(outbuffer + offset + 0) = (u_id.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_id.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_id.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_id.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->id);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_parent;
+      u_parent.real = this->parent;
+      *(outbuffer + offset + 0) = (u_parent.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_parent.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_parent.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_parent.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->parent);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      union {
+        bool real;
+        uint8_t base;
+      } u_state;
+      u_state.base = 0;
+      u_state.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->state = u_state.real;
+      offset += sizeof(this->state);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_id;
+      u_id.base = 0;
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->id = u_id.real;
+      offset += sizeof(this->id);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_parent;
+      u_parent.base = 0;
+      u_parent.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_parent.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_parent.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_parent.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->parent = u_parent.real;
+      offset += sizeof(this->parent);
+     return offset;
+    }
+
+    const char * getType(){ return "dynamic_reconfigure/GroupState"; };
+    const char * getMD5(){ return "a2d87f51dc22930325041a2f8b1571f8"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 dynamic_reconfigure/IntParameter.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/dynamic_reconfigure/IntParameter.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,77 @@
+#ifndef _ROS_dynamic_reconfigure_IntParameter_h
+#define _ROS_dynamic_reconfigure_IntParameter_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace dynamic_reconfigure
+{
+
+  class IntParameter : public ros::Msg
+  {
+    public:
+      const char* name;
+      int32_t value;
+
+    IntParameter():
+      name(""),
+      value(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_value;
+      u_value.real = this->value;
+      *(outbuffer + offset + 0) = (u_value.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_value.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_value.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_value.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->value);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_value;
+      u_value.base = 0;
+      u_value.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_value.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_value.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_value.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->value = u_value.real;
+      offset += sizeof(this->value);
+     return offset;
+    }
+
+    const char * getType(){ return "dynamic_reconfigure/IntParameter"; };
+    const char * getMD5(){ return "65fedc7a0cbfb8db035e46194a350bf1"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 dynamic_reconfigure/ParamDescription.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/dynamic_reconfigure/ParamDescription.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,114 @@
+#ifndef _ROS_dynamic_reconfigure_ParamDescription_h
+#define _ROS_dynamic_reconfigure_ParamDescription_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace dynamic_reconfigure
+{
+
+  class ParamDescription : public ros::Msg
+  {
+    public:
+      const char* name;
+      const char* type;
+      uint32_t level;
+      const char* description;
+      const char* edit_method;
+
+    ParamDescription():
+      name(""),
+      type(""),
+      level(0),
+      description(""),
+      edit_method("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      uint32_t length_type = strlen(this->type);
+      memcpy(outbuffer + offset, &length_type, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->type, length_type);
+      offset += length_type;
+      *(outbuffer + offset + 0) = (this->level >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->level >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->level >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->level >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->level);
+      uint32_t length_description = strlen(this->description);
+      memcpy(outbuffer + offset, &length_description, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->description, length_description);
+      offset += length_description;
+      uint32_t length_edit_method = strlen(this->edit_method);
+      memcpy(outbuffer + offset, &length_edit_method, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->edit_method, length_edit_method);
+      offset += length_edit_method;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      uint32_t length_type;
+      memcpy(&length_type, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_type; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_type-1]=0;
+      this->type = (char *)(inbuffer + offset-1);
+      offset += length_type;
+      this->level =  ((uint32_t) (*(inbuffer + offset)));
+      this->level |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->level |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->level |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->level);
+      uint32_t length_description;
+      memcpy(&length_description, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_description; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_description-1]=0;
+      this->description = (char *)(inbuffer + offset-1);
+      offset += length_description;
+      uint32_t length_edit_method;
+      memcpy(&length_edit_method, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_edit_method; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_edit_method-1]=0;
+      this->edit_method = (char *)(inbuffer + offset-1);
+      offset += length_edit_method;
+     return offset;
+    }
+
+    const char * getType(){ return "dynamic_reconfigure/ParamDescription"; };
+    const char * getMD5(){ return "7434fcb9348c13054e0c3b267c8cb34d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 dynamic_reconfigure/Reconfigure.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/dynamic_reconfigure/Reconfigure.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,79 @@
+#ifndef _ROS_SERVICE_Reconfigure_h
+#define _ROS_SERVICE_Reconfigure_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "dynamic_reconfigure/Config.h"
+
+namespace dynamic_reconfigure
+{
+
+static const char RECONFIGURE[] = "dynamic_reconfigure/Reconfigure";
+
+  class ReconfigureRequest : public ros::Msg
+  {
+    public:
+      dynamic_reconfigure::Config config;
+
+    ReconfigureRequest():
+      config()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->config.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->config.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return RECONFIGURE; };
+    const char * getMD5(){ return "ac41a77620a4a0348b7001641796a8a1"; };
+
+  };
+
+  class ReconfigureResponse : public ros::Msg
+  {
+    public:
+      dynamic_reconfigure::Config config;
+
+    ReconfigureResponse():
+      config()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->config.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->config.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return RECONFIGURE; };
+    const char * getMD5(){ return "ac41a77620a4a0348b7001641796a8a1"; };
+
+  };
+
+  class Reconfigure {
+    public:
+    typedef ReconfigureRequest Request;
+    typedef ReconfigureResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 dynamic_reconfigure/SensorLevels.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/dynamic_reconfigure/SensorLevels.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,41 @@
+#ifndef _ROS_dynamic_reconfigure_SensorLevels_h
+#define _ROS_dynamic_reconfigure_SensorLevels_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace dynamic_reconfigure
+{
+
+  class SensorLevels : public ros::Msg
+  {
+    public:
+      enum { RECONFIGURE_CLOSE =  3   };
+      enum { RECONFIGURE_STOP =  1   };
+      enum { RECONFIGURE_RUNNING =  0  };
+
+    SensorLevels()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "dynamic_reconfigure/SensorLevels"; };
+    const char * getMD5(){ return "6322637bee96d5489db6e2127c47602c"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 dynamic_reconfigure/StrParameter.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/dynamic_reconfigure/StrParameter.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,70 @@
+#ifndef _ROS_dynamic_reconfigure_StrParameter_h
+#define _ROS_dynamic_reconfigure_StrParameter_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace dynamic_reconfigure
+{
+
+  class StrParameter : public ros::Msg
+  {
+    public:
+      const char* name;
+      const char* value;
+
+    StrParameter():
+      name(""),
+      value("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      uint32_t length_value = strlen(this->value);
+      memcpy(outbuffer + offset, &length_value, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->value, length_value);
+      offset += length_value;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      uint32_t length_value;
+      memcpy(&length_value, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_value; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_value-1]=0;
+      this->value = (char *)(inbuffer + offset-1);
+      offset += length_value;
+     return offset;
+    }
+
+    const char * getType(){ return "dynamic_reconfigure/StrParameter"; };
+    const char * getMD5(){ return "bc6ccc4a57f61779c8eaae61e9f422e0"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/ApplyBodyWrench.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/ApplyBodyWrench.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,191 @@
+#ifndef _ROS_SERVICE_ApplyBodyWrench_h
+#define _ROS_SERVICE_ApplyBodyWrench_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/duration.h"
+#include "geometry_msgs/Wrench.h"
+#include "ros/time.h"
+#include "geometry_msgs/Point.h"
+
+namespace gazebo_msgs
+{
+
+static const char APPLYBODYWRENCH[] = "gazebo_msgs/ApplyBodyWrench";
+
+  class ApplyBodyWrenchRequest : public ros::Msg
+  {
+    public:
+      const char* body_name;
+      const char* reference_frame;
+      geometry_msgs::Point reference_point;
+      geometry_msgs::Wrench wrench;
+      ros::Time start_time;
+      ros::Duration duration;
+
+    ApplyBodyWrenchRequest():
+      body_name(""),
+      reference_frame(""),
+      reference_point(),
+      wrench(),
+      start_time(),
+      duration()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_body_name = strlen(this->body_name);
+      memcpy(outbuffer + offset, &length_body_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->body_name, length_body_name);
+      offset += length_body_name;
+      uint32_t length_reference_frame = strlen(this->reference_frame);
+      memcpy(outbuffer + offset, &length_reference_frame, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
+      offset += length_reference_frame;
+      offset += this->reference_point.serialize(outbuffer + offset);
+      offset += this->wrench.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->start_time.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->start_time.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->start_time.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->start_time.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->start_time.sec);
+      *(outbuffer + offset + 0) = (this->start_time.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->start_time.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->start_time.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->start_time.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->start_time.nsec);
+      *(outbuffer + offset + 0) = (this->duration.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->duration.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->duration.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->duration.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->duration.sec);
+      *(outbuffer + offset + 0) = (this->duration.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->duration.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->duration.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->duration.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->duration.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_body_name;
+      memcpy(&length_body_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_body_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_body_name-1]=0;
+      this->body_name = (char *)(inbuffer + offset-1);
+      offset += length_body_name;
+      uint32_t length_reference_frame;
+      memcpy(&length_reference_frame, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_reference_frame-1]=0;
+      this->reference_frame = (char *)(inbuffer + offset-1);
+      offset += length_reference_frame;
+      offset += this->reference_point.deserialize(inbuffer + offset);
+      offset += this->wrench.deserialize(inbuffer + offset);
+      this->start_time.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->start_time.sec);
+      this->start_time.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->start_time.nsec);
+      this->duration.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->duration.sec);
+      this->duration.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->duration.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return APPLYBODYWRENCH; };
+    const char * getMD5(){ return "e37e6adf97eba5095baa77dffb71e5bd"; };
+
+  };
+
+  class ApplyBodyWrenchResponse : public ros::Msg
+  {
+    public:
+      bool success;
+      const char* status_message;
+
+    ApplyBodyWrenchResponse():
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return APPLYBODYWRENCH; };
+    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
+
+  };
+
+  class ApplyBodyWrench {
+    public:
+    typedef ApplyBodyWrenchRequest Request;
+    typedef ApplyBodyWrenchResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/ApplyJointEffort.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/ApplyJointEffort.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,196 @@
+#ifndef _ROS_SERVICE_ApplyJointEffort_h
+#define _ROS_SERVICE_ApplyJointEffort_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/duration.h"
+#include "ros/time.h"
+
+namespace gazebo_msgs
+{
+
+static const char APPLYJOINTEFFORT[] = "gazebo_msgs/ApplyJointEffort";
+
+  class ApplyJointEffortRequest : public ros::Msg
+  {
+    public:
+      const char* joint_name;
+      double effort;
+      ros::Time start_time;
+      ros::Duration duration;
+
+    ApplyJointEffortRequest():
+      joint_name(""),
+      effort(0),
+      start_time(),
+      duration()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_joint_name = strlen(this->joint_name);
+      memcpy(outbuffer + offset, &length_joint_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->joint_name, length_joint_name);
+      offset += length_joint_name;
+      union {
+        double real;
+        uint64_t base;
+      } u_effort;
+      u_effort.real = this->effort;
+      *(outbuffer + offset + 0) = (u_effort.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_effort.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_effort.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_effort.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_effort.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_effort.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_effort.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_effort.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->effort);
+      *(outbuffer + offset + 0) = (this->start_time.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->start_time.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->start_time.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->start_time.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->start_time.sec);
+      *(outbuffer + offset + 0) = (this->start_time.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->start_time.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->start_time.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->start_time.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->start_time.nsec);
+      *(outbuffer + offset + 0) = (this->duration.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->duration.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->duration.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->duration.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->duration.sec);
+      *(outbuffer + offset + 0) = (this->duration.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->duration.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->duration.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->duration.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->duration.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_joint_name;
+      memcpy(&length_joint_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_joint_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_joint_name-1]=0;
+      this->joint_name = (char *)(inbuffer + offset-1);
+      offset += length_joint_name;
+      union {
+        double real;
+        uint64_t base;
+      } u_effort;
+      u_effort.base = 0;
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->effort = u_effort.real;
+      offset += sizeof(this->effort);
+      this->start_time.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->start_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->start_time.sec);
+      this->start_time.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->start_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->start_time.nsec);
+      this->duration.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->duration.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->duration.sec);
+      this->duration.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->duration.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->duration.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return APPLYJOINTEFFORT; };
+    const char * getMD5(){ return "2c3396ab9af67a509ecd2167a8fe41a2"; };
+
+  };
+
+  class ApplyJointEffortResponse : public ros::Msg
+  {
+    public:
+      bool success;
+      const char* status_message;
+
+    ApplyJointEffortResponse():
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return APPLYJOINTEFFORT; };
+    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
+
+  };
+
+  class ApplyJointEffort {
+    public:
+    typedef ApplyJointEffortRequest Request;
+    typedef ApplyJointEffortResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/BodyRequest.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/BodyRequest.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,86 @@
+#ifndef _ROS_SERVICE_BodyRequest_h
+#define _ROS_SERVICE_BodyRequest_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace gazebo_msgs
+{
+
+static const char BODYREQUEST[] = "gazebo_msgs/BodyRequest";
+
+  class BodyRequestRequest : public ros::Msg
+  {
+    public:
+      const char* body_name;
+
+    BodyRequestRequest():
+      body_name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_body_name = strlen(this->body_name);
+      memcpy(outbuffer + offset, &length_body_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->body_name, length_body_name);
+      offset += length_body_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_body_name;
+      memcpy(&length_body_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_body_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_body_name-1]=0;
+      this->body_name = (char *)(inbuffer + offset-1);
+      offset += length_body_name;
+     return offset;
+    }
+
+    const char * getType(){ return BODYREQUEST; };
+    const char * getMD5(){ return "5eade9afe7f232d78005bd0cafeab755"; };
+
+  };
+
+  class BodyRequestResponse : public ros::Msg
+  {
+    public:
+
+    BodyRequestResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return BODYREQUEST; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class BodyRequest {
+    public:
+    typedef BodyRequestRequest Request;
+    typedef BodyRequestResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/ContactState.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/ContactState.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,199 @@
+#ifndef _ROS_gazebo_msgs_ContactState_h
+#define _ROS_gazebo_msgs_ContactState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Wrench.h"
+#include "geometry_msgs/Vector3.h"
+
+namespace gazebo_msgs
+{
+
+  class ContactState : public ros::Msg
+  {
+    public:
+      const char* info;
+      const char* collision1_name;
+      const char* collision2_name;
+      uint8_t wrenches_length;
+      geometry_msgs::Wrench st_wrenches;
+      geometry_msgs::Wrench * wrenches;
+      geometry_msgs::Wrench total_wrench;
+      uint8_t contact_positions_length;
+      geometry_msgs::Vector3 st_contact_positions;
+      geometry_msgs::Vector3 * contact_positions;
+      uint8_t contact_normals_length;
+      geometry_msgs::Vector3 st_contact_normals;
+      geometry_msgs::Vector3 * contact_normals;
+      uint8_t depths_length;
+      double st_depths;
+      double * depths;
+
+    ContactState():
+      info(""),
+      collision1_name(""),
+      collision2_name(""),
+      wrenches_length(0), wrenches(NULL),
+      total_wrench(),
+      contact_positions_length(0), contact_positions(NULL),
+      contact_normals_length(0), contact_normals(NULL),
+      depths_length(0), depths(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_info = strlen(this->info);
+      memcpy(outbuffer + offset, &length_info, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->info, length_info);
+      offset += length_info;
+      uint32_t length_collision1_name = strlen(this->collision1_name);
+      memcpy(outbuffer + offset, &length_collision1_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->collision1_name, length_collision1_name);
+      offset += length_collision1_name;
+      uint32_t length_collision2_name = strlen(this->collision2_name);
+      memcpy(outbuffer + offset, &length_collision2_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->collision2_name, length_collision2_name);
+      offset += length_collision2_name;
+      *(outbuffer + offset++) = wrenches_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < wrenches_length; i++){
+      offset += this->wrenches[i].serialize(outbuffer + offset);
+      }
+      offset += this->total_wrench.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = contact_positions_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < contact_positions_length; i++){
+      offset += this->contact_positions[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = contact_normals_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < contact_normals_length; i++){
+      offset += this->contact_normals[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = depths_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < depths_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_depthsi;
+      u_depthsi.real = this->depths[i];
+      *(outbuffer + offset + 0) = (u_depthsi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_depthsi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_depthsi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_depthsi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_depthsi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_depthsi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_depthsi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_depthsi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->depths[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_info;
+      memcpy(&length_info, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_info; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_info-1]=0;
+      this->info = (char *)(inbuffer + offset-1);
+      offset += length_info;
+      uint32_t length_collision1_name;
+      memcpy(&length_collision1_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_collision1_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_collision1_name-1]=0;
+      this->collision1_name = (char *)(inbuffer + offset-1);
+      offset += length_collision1_name;
+      uint32_t length_collision2_name;
+      memcpy(&length_collision2_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_collision2_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_collision2_name-1]=0;
+      this->collision2_name = (char *)(inbuffer + offset-1);
+      offset += length_collision2_name;
+      uint8_t wrenches_lengthT = *(inbuffer + offset++);
+      if(wrenches_lengthT > wrenches_length)
+        this->wrenches = (geometry_msgs::Wrench*)realloc(this->wrenches, wrenches_lengthT * sizeof(geometry_msgs::Wrench));
+      offset += 3;
+      wrenches_length = wrenches_lengthT;
+      for( uint8_t i = 0; i < wrenches_length; i++){
+      offset += this->st_wrenches.deserialize(inbuffer + offset);
+        memcpy( &(this->wrenches[i]), &(this->st_wrenches), sizeof(geometry_msgs::Wrench));
+      }
+      offset += this->total_wrench.deserialize(inbuffer + offset);
+      uint8_t contact_positions_lengthT = *(inbuffer + offset++);
+      if(contact_positions_lengthT > contact_positions_length)
+        this->contact_positions = (geometry_msgs::Vector3*)realloc(this->contact_positions, contact_positions_lengthT * sizeof(geometry_msgs::Vector3));
+      offset += 3;
+      contact_positions_length = contact_positions_lengthT;
+      for( uint8_t i = 0; i < contact_positions_length; i++){
+      offset += this->st_contact_positions.deserialize(inbuffer + offset);
+        memcpy( &(this->contact_positions[i]), &(this->st_contact_positions), sizeof(geometry_msgs::Vector3));
+      }
+      uint8_t contact_normals_lengthT = *(inbuffer + offset++);
+      if(contact_normals_lengthT > contact_normals_length)
+        this->contact_normals = (geometry_msgs::Vector3*)realloc(this->contact_normals, contact_normals_lengthT * sizeof(geometry_msgs::Vector3));
+      offset += 3;
+      contact_normals_length = contact_normals_lengthT;
+      for( uint8_t i = 0; i < contact_normals_length; i++){
+      offset += this->st_contact_normals.deserialize(inbuffer + offset);
+        memcpy( &(this->contact_normals[i]), &(this->st_contact_normals), sizeof(geometry_msgs::Vector3));
+      }
+      uint8_t depths_lengthT = *(inbuffer + offset++);
+      if(depths_lengthT > depths_length)
+        this->depths = (double*)realloc(this->depths, depths_lengthT * sizeof(double));
+      offset += 3;
+      depths_length = depths_lengthT;
+      for( uint8_t i = 0; i < depths_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_depths;
+      u_st_depths.base = 0;
+      u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_depths.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_depths = u_st_depths.real;
+      offset += sizeof(this->st_depths);
+        memcpy( &(this->depths[i]), &(this->st_depths), sizeof(double));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "gazebo_msgs/ContactState"; };
+    const char * getMD5(){ return "48c0ffb054b8c444f870cecea1ee50d9"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/ContactsState.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/ContactsState.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,64 @@
+#ifndef _ROS_gazebo_msgs_ContactsState_h
+#define _ROS_gazebo_msgs_ContactsState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "gazebo_msgs/ContactState.h"
+
+namespace gazebo_msgs
+{
+
+  class ContactsState : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t states_length;
+      gazebo_msgs::ContactState st_states;
+      gazebo_msgs::ContactState * states;
+
+    ContactsState():
+      header(),
+      states_length(0), states(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = states_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < states_length; i++){
+      offset += this->states[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t states_lengthT = *(inbuffer + offset++);
+      if(states_lengthT > states_length)
+        this->states = (gazebo_msgs::ContactState*)realloc(this->states, states_lengthT * sizeof(gazebo_msgs::ContactState));
+      offset += 3;
+      states_length = states_lengthT;
+      for( uint8_t i = 0; i < states_length; i++){
+      offset += this->st_states.deserialize(inbuffer + offset);
+        memcpy( &(this->states[i]), &(this->st_states), sizeof(gazebo_msgs::ContactState));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "gazebo_msgs/ContactsState"; };
+    const char * getMD5(){ return "acbcb1601a8e525bf72509f18e6f668d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/DeleteModel.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/DeleteModel.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,119 @@
+#ifndef _ROS_SERVICE_DeleteModel_h
+#define _ROS_SERVICE_DeleteModel_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace gazebo_msgs
+{
+
+static const char DELETEMODEL[] = "gazebo_msgs/DeleteModel";
+
+  class DeleteModelRequest : public ros::Msg
+  {
+    public:
+      const char* model_name;
+
+    DeleteModelRequest():
+      model_name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_model_name = strlen(this->model_name);
+      memcpy(outbuffer + offset, &length_model_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->model_name, length_model_name);
+      offset += length_model_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_model_name;
+      memcpy(&length_model_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_model_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_model_name-1]=0;
+      this->model_name = (char *)(inbuffer + offset-1);
+      offset += length_model_name;
+     return offset;
+    }
+
+    const char * getType(){ return DELETEMODEL; };
+    const char * getMD5(){ return "ea31c8eab6fc401383cf528a7c0984ba"; };
+
+  };
+
+  class DeleteModelResponse : public ros::Msg
+  {
+    public:
+      bool success;
+      const char* status_message;
+
+    DeleteModelResponse():
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return DELETEMODEL; };
+    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
+
+  };
+
+  class DeleteModel {
+    public:
+    typedef DeleteModelRequest Request;
+    typedef DeleteModelResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/GetJointProperties.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/GetJointProperties.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,272 @@
+#ifndef _ROS_SERVICE_GetJointProperties_h
+#define _ROS_SERVICE_GetJointProperties_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace gazebo_msgs
+{
+
+static const char GETJOINTPROPERTIES[] = "gazebo_msgs/GetJointProperties";
+
+  class GetJointPropertiesRequest : public ros::Msg
+  {
+    public:
+      const char* joint_name;
+
+    GetJointPropertiesRequest():
+      joint_name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_joint_name = strlen(this->joint_name);
+      memcpy(outbuffer + offset, &length_joint_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->joint_name, length_joint_name);
+      offset += length_joint_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_joint_name;
+      memcpy(&length_joint_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_joint_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_joint_name-1]=0;
+      this->joint_name = (char *)(inbuffer + offset-1);
+      offset += length_joint_name;
+     return offset;
+    }
+
+    const char * getType(){ return GETJOINTPROPERTIES; };
+    const char * getMD5(){ return "0be1351618e1dc030eb7959d9a4902de"; };
+
+  };
+
+  class GetJointPropertiesResponse : public ros::Msg
+  {
+    public:
+      uint8_t type;
+      uint8_t damping_length;
+      double st_damping;
+      double * damping;
+      uint8_t position_length;
+      double st_position;
+      double * position;
+      uint8_t rate_length;
+      double st_rate;
+      double * rate;
+      bool success;
+      const char* status_message;
+      enum { REVOLUTE =  0                 };
+      enum { CONTINUOUS =  1                 };
+      enum { PRISMATIC =  2                 };
+      enum { FIXED =  3                 };
+      enum { BALL =  4                 };
+      enum { UNIVERSAL =  5                 };
+
+    GetJointPropertiesResponse():
+      type(0),
+      damping_length(0), damping(NULL),
+      position_length(0), position(NULL),
+      rate_length(0), rate(NULL),
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->type);
+      *(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++) = position_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < position_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_positioni;
+      u_positioni.real = this->position[i];
+      *(outbuffer + offset + 0) = (u_positioni.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_positioni.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_positioni.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_positioni.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_positioni.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_positioni.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_positioni.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_positioni.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->position[i]);
+      }
+      *(outbuffer + offset++) = rate_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < rate_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_ratei;
+      u_ratei.real = this->rate[i];
+      *(outbuffer + offset + 0) = (u_ratei.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_ratei.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_ratei.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_ratei.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_ratei.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_ratei.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_ratei.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_ratei.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->rate[i]);
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->type =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->type);
+      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 position_lengthT = *(inbuffer + offset++);
+      if(position_lengthT > position_length)
+        this->position = (double*)realloc(this->position, position_lengthT * sizeof(double));
+      offset += 3;
+      position_length = position_lengthT;
+      for( uint8_t i = 0; i < position_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_position;
+      u_st_position.base = 0;
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_position = u_st_position.real;
+      offset += sizeof(this->st_position);
+        memcpy( &(this->position[i]), &(this->st_position), sizeof(double));
+      }
+      uint8_t rate_lengthT = *(inbuffer + offset++);
+      if(rate_lengthT > rate_length)
+        this->rate = (double*)realloc(this->rate, rate_lengthT * sizeof(double));
+      offset += 3;
+      rate_length = rate_lengthT;
+      for( uint8_t i = 0; i < rate_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_rate;
+      u_st_rate.base = 0;
+      u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_rate.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_rate = u_st_rate.real;
+      offset += sizeof(this->st_rate);
+        memcpy( &(this->rate[i]), &(this->st_rate), sizeof(double));
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return GETJOINTPROPERTIES; };
+    const char * getMD5(){ return "cd7b30a39faa372283dc94c5f6457f82"; };
+
+  };
+
+  class GetJointProperties {
+    public:
+    typedef GetJointPropertiesRequest Request;
+    typedef GetJointPropertiesResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/GetLinkProperties.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/GetLinkProperties.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,358 @@
+#ifndef _ROS_SERVICE_GetLinkProperties_h
+#define _ROS_SERVICE_GetLinkProperties_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Pose.h"
+
+namespace gazebo_msgs
+{
+
+static const char GETLINKPROPERTIES[] = "gazebo_msgs/GetLinkProperties";
+
+  class GetLinkPropertiesRequest : public ros::Msg
+  {
+    public:
+      const char* link_name;
+
+    GetLinkPropertiesRequest():
+      link_name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_link_name = strlen(this->link_name);
+      memcpy(outbuffer + offset, &length_link_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->link_name, length_link_name);
+      offset += length_link_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_link_name;
+      memcpy(&length_link_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_link_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_link_name-1]=0;
+      this->link_name = (char *)(inbuffer + offset-1);
+      offset += length_link_name;
+     return offset;
+    }
+
+    const char * getType(){ return GETLINKPROPERTIES; };
+    const char * getMD5(){ return "7d82d60381f1b66a30f2157f60884345"; };
+
+  };
+
+  class GetLinkPropertiesResponse : public ros::Msg
+  {
+    public:
+      geometry_msgs::Pose com;
+      bool gravity_mode;
+      double mass;
+      double ixx;
+      double ixy;
+      double ixz;
+      double iyy;
+      double iyz;
+      double izz;
+      bool success;
+      const char* status_message;
+
+    GetLinkPropertiesResponse():
+      com(),
+      gravity_mode(0),
+      mass(0),
+      ixx(0),
+      ixy(0),
+      ixz(0),
+      iyy(0),
+      iyz(0),
+      izz(0),
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->com.serialize(outbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_gravity_mode;
+      u_gravity_mode.real = this->gravity_mode;
+      *(outbuffer + offset + 0) = (u_gravity_mode.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->gravity_mode);
+      union {
+        double real;
+        uint64_t base;
+      } u_mass;
+      u_mass.real = this->mass;
+      *(outbuffer + offset + 0) = (u_mass.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_mass.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_mass.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_mass.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_mass.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_mass.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_mass.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_mass.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->mass);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixx;
+      u_ixx.real = this->ixx;
+      *(outbuffer + offset + 0) = (u_ixx.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_ixx.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_ixx.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_ixx.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_ixx.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_ixx.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_ixx.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_ixx.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->ixx);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixy;
+      u_ixy.real = this->ixy;
+      *(outbuffer + offset + 0) = (u_ixy.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_ixy.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_ixy.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_ixy.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_ixy.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_ixy.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_ixy.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_ixy.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->ixy);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixz;
+      u_ixz.real = this->ixz;
+      *(outbuffer + offset + 0) = (u_ixz.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_ixz.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_ixz.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_ixz.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_ixz.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_ixz.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_ixz.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_ixz.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->ixz);
+      union {
+        double real;
+        uint64_t base;
+      } u_iyy;
+      u_iyy.real = this->iyy;
+      *(outbuffer + offset + 0) = (u_iyy.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_iyy.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_iyy.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_iyy.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_iyy.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_iyy.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_iyy.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_iyy.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->iyy);
+      union {
+        double real;
+        uint64_t base;
+      } u_iyz;
+      u_iyz.real = this->iyz;
+      *(outbuffer + offset + 0) = (u_iyz.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_iyz.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_iyz.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_iyz.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_iyz.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_iyz.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_iyz.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_iyz.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->iyz);
+      union {
+        double real;
+        uint64_t base;
+      } u_izz;
+      u_izz.real = this->izz;
+      *(outbuffer + offset + 0) = (u_izz.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_izz.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_izz.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_izz.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_izz.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_izz.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_izz.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_izz.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->izz);
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->com.deserialize(inbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_gravity_mode;
+      u_gravity_mode.base = 0;
+      u_gravity_mode.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->gravity_mode = u_gravity_mode.real;
+      offset += sizeof(this->gravity_mode);
+      union {
+        double real;
+        uint64_t base;
+      } u_mass;
+      u_mass.base = 0;
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->mass = u_mass.real;
+      offset += sizeof(this->mass);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixx;
+      u_ixx.base = 0;
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->ixx = u_ixx.real;
+      offset += sizeof(this->ixx);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixy;
+      u_ixy.base = 0;
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->ixy = u_ixy.real;
+      offset += sizeof(this->ixy);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixz;
+      u_ixz.base = 0;
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->ixz = u_ixz.real;
+      offset += sizeof(this->ixz);
+      union {
+        double real;
+        uint64_t base;
+      } u_iyy;
+      u_iyy.base = 0;
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->iyy = u_iyy.real;
+      offset += sizeof(this->iyy);
+      union {
+        double real;
+        uint64_t base;
+      } u_iyz;
+      u_iyz.base = 0;
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->iyz = u_iyz.real;
+      offset += sizeof(this->iyz);
+      union {
+        double real;
+        uint64_t base;
+      } u_izz;
+      u_izz.base = 0;
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->izz = u_izz.real;
+      offset += sizeof(this->izz);
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return GETLINKPROPERTIES; };
+    const char * getMD5(){ return "a8619f92d17cfcc3958c0fd13299443d"; };
+
+  };
+
+  class GetLinkProperties {
+    public:
+    typedef GetLinkPropertiesRequest Request;
+    typedef GetLinkPropertiesResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/GetLinkState.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/GetLinkState.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,140 @@
+#ifndef _ROS_SERVICE_GetLinkState_h
+#define _ROS_SERVICE_GetLinkState_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "gazebo_msgs/LinkState.h"
+
+namespace gazebo_msgs
+{
+
+static const char GETLINKSTATE[] = "gazebo_msgs/GetLinkState";
+
+  class GetLinkStateRequest : public ros::Msg
+  {
+    public:
+      const char* link_name;
+      const char* reference_frame;
+
+    GetLinkStateRequest():
+      link_name(""),
+      reference_frame("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_link_name = strlen(this->link_name);
+      memcpy(outbuffer + offset, &length_link_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->link_name, length_link_name);
+      offset += length_link_name;
+      uint32_t length_reference_frame = strlen(this->reference_frame);
+      memcpy(outbuffer + offset, &length_reference_frame, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
+      offset += length_reference_frame;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_link_name;
+      memcpy(&length_link_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_link_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_link_name-1]=0;
+      this->link_name = (char *)(inbuffer + offset-1);
+      offset += length_link_name;
+      uint32_t length_reference_frame;
+      memcpy(&length_reference_frame, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_reference_frame-1]=0;
+      this->reference_frame = (char *)(inbuffer + offset-1);
+      offset += length_reference_frame;
+     return offset;
+    }
+
+    const char * getType(){ return GETLINKSTATE; };
+    const char * getMD5(){ return "7551675c30aaa71f7c288d4864552001"; };
+
+  };
+
+  class GetLinkStateResponse : public ros::Msg
+  {
+    public:
+      gazebo_msgs::LinkState link_state;
+      bool success;
+      const char* status_message;
+
+    GetLinkStateResponse():
+      link_state(),
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->link_state.serialize(outbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->link_state.deserialize(inbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return GETLINKSTATE; };
+    const char * getMD5(){ return "8ba55ad34f9c072e75c0de57b089753b"; };
+
+  };
+
+  class GetLinkState {
+    public:
+    typedef GetLinkStateRequest Request;
+    typedef GetLinkStateResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/GetModelProperties.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/GetModelProperties.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,296 @@
+#ifndef _ROS_SERVICE_GetModelProperties_h
+#define _ROS_SERVICE_GetModelProperties_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace gazebo_msgs
+{
+
+static const char GETMODELPROPERTIES[] = "gazebo_msgs/GetModelProperties";
+
+  class GetModelPropertiesRequest : public ros::Msg
+  {
+    public:
+      const char* model_name;
+
+    GetModelPropertiesRequest():
+      model_name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_model_name = strlen(this->model_name);
+      memcpy(outbuffer + offset, &length_model_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->model_name, length_model_name);
+      offset += length_model_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_model_name;
+      memcpy(&length_model_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_model_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_model_name-1]=0;
+      this->model_name = (char *)(inbuffer + offset-1);
+      offset += length_model_name;
+     return offset;
+    }
+
+    const char * getType(){ return GETMODELPROPERTIES; };
+    const char * getMD5(){ return "ea31c8eab6fc401383cf528a7c0984ba"; };
+
+  };
+
+  class GetModelPropertiesResponse : public ros::Msg
+  {
+    public:
+      const char* parent_model_name;
+      const char* canonical_body_name;
+      uint8_t body_names_length;
+      char* st_body_names;
+      char* * body_names;
+      uint8_t geom_names_length;
+      char* st_geom_names;
+      char* * geom_names;
+      uint8_t joint_names_length;
+      char* st_joint_names;
+      char* * joint_names;
+      uint8_t child_model_names_length;
+      char* st_child_model_names;
+      char* * child_model_names;
+      bool is_static;
+      bool success;
+      const char* status_message;
+
+    GetModelPropertiesResponse():
+      parent_model_name(""),
+      canonical_body_name(""),
+      body_names_length(0), body_names(NULL),
+      geom_names_length(0), geom_names(NULL),
+      joint_names_length(0), joint_names(NULL),
+      child_model_names_length(0), child_model_names(NULL),
+      is_static(0),
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_parent_model_name = strlen(this->parent_model_name);
+      memcpy(outbuffer + offset, &length_parent_model_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->parent_model_name, length_parent_model_name);
+      offset += length_parent_model_name;
+      uint32_t length_canonical_body_name = strlen(this->canonical_body_name);
+      memcpy(outbuffer + offset, &length_canonical_body_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->canonical_body_name, length_canonical_body_name);
+      offset += length_canonical_body_name;
+      *(outbuffer + offset++) = body_names_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < body_names_length; i++){
+      uint32_t length_body_namesi = strlen(this->body_names[i]);
+      memcpy(outbuffer + offset, &length_body_namesi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->body_names[i], length_body_namesi);
+      offset += length_body_namesi;
+      }
+      *(outbuffer + offset++) = geom_names_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < geom_names_length; i++){
+      uint32_t length_geom_namesi = strlen(this->geom_names[i]);
+      memcpy(outbuffer + offset, &length_geom_namesi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->geom_names[i], length_geom_namesi);
+      offset += length_geom_namesi;
+      }
+      *(outbuffer + offset++) = joint_names_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < joint_names_length; i++){
+      uint32_t length_joint_namesi = strlen(this->joint_names[i]);
+      memcpy(outbuffer + offset, &length_joint_namesi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
+      offset += length_joint_namesi;
+      }
+      *(outbuffer + offset++) = child_model_names_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < child_model_names_length; i++){
+      uint32_t length_child_model_namesi = strlen(this->child_model_names[i]);
+      memcpy(outbuffer + offset, &length_child_model_namesi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->child_model_names[i], length_child_model_namesi);
+      offset += length_child_model_namesi;
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_static;
+      u_is_static.real = this->is_static;
+      *(outbuffer + offset + 0) = (u_is_static.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->is_static);
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_parent_model_name;
+      memcpy(&length_parent_model_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_parent_model_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_parent_model_name-1]=0;
+      this->parent_model_name = (char *)(inbuffer + offset-1);
+      offset += length_parent_model_name;
+      uint32_t length_canonical_body_name;
+      memcpy(&length_canonical_body_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_canonical_body_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_canonical_body_name-1]=0;
+      this->canonical_body_name = (char *)(inbuffer + offset-1);
+      offset += length_canonical_body_name;
+      uint8_t body_names_lengthT = *(inbuffer + offset++);
+      if(body_names_lengthT > body_names_length)
+        this->body_names = (char**)realloc(this->body_names, body_names_lengthT * sizeof(char*));
+      offset += 3;
+      body_names_length = body_names_lengthT;
+      for( uint8_t i = 0; i < body_names_length; i++){
+      uint32_t length_st_body_names;
+      memcpy(&length_st_body_names, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_body_names; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_body_names-1]=0;
+      this->st_body_names = (char *)(inbuffer + offset-1);
+      offset += length_st_body_names;
+        memcpy( &(this->body_names[i]), &(this->st_body_names), sizeof(char*));
+      }
+      uint8_t geom_names_lengthT = *(inbuffer + offset++);
+      if(geom_names_lengthT > geom_names_length)
+        this->geom_names = (char**)realloc(this->geom_names, geom_names_lengthT * sizeof(char*));
+      offset += 3;
+      geom_names_length = geom_names_lengthT;
+      for( uint8_t i = 0; i < geom_names_length; i++){
+      uint32_t length_st_geom_names;
+      memcpy(&length_st_geom_names, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_geom_names; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_geom_names-1]=0;
+      this->st_geom_names = (char *)(inbuffer + offset-1);
+      offset += length_st_geom_names;
+        memcpy( &(this->geom_names[i]), &(this->st_geom_names), sizeof(char*));
+      }
+      uint8_t joint_names_lengthT = *(inbuffer + offset++);
+      if(joint_names_lengthT > joint_names_length)
+        this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
+      offset += 3;
+      joint_names_length = joint_names_lengthT;
+      for( uint8_t i = 0; i < joint_names_length; i++){
+      uint32_t length_st_joint_names;
+      memcpy(&length_st_joint_names, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_joint_names-1]=0;
+      this->st_joint_names = (char *)(inbuffer + offset-1);
+      offset += length_st_joint_names;
+        memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
+      }
+      uint8_t child_model_names_lengthT = *(inbuffer + offset++);
+      if(child_model_names_lengthT > child_model_names_length)
+        this->child_model_names = (char**)realloc(this->child_model_names, child_model_names_lengthT * sizeof(char*));
+      offset += 3;
+      child_model_names_length = child_model_names_lengthT;
+      for( uint8_t i = 0; i < child_model_names_length; i++){
+      uint32_t length_st_child_model_names;
+      memcpy(&length_st_child_model_names, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_child_model_names; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_child_model_names-1]=0;
+      this->st_child_model_names = (char *)(inbuffer + offset-1);
+      offset += length_st_child_model_names;
+        memcpy( &(this->child_model_names[i]), &(this->st_child_model_names), sizeof(char*));
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_static;
+      u_is_static.base = 0;
+      u_is_static.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->is_static = u_is_static.real;
+      offset += sizeof(this->is_static);
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return GETMODELPROPERTIES; };
+    const char * getMD5(){ return "b7f370938ef77b464b95f1bab3ec5028"; };
+
+  };
+
+  class GetModelProperties {
+    public:
+    typedef GetModelPropertiesRequest Request;
+    typedef GetModelPropertiesResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/GetModelState.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/GetModelState.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,145 @@
+#ifndef _ROS_SERVICE_GetModelState_h
+#define _ROS_SERVICE_GetModelState_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Pose.h"
+#include "geometry_msgs/Twist.h"
+
+namespace gazebo_msgs
+{
+
+static const char GETMODELSTATE[] = "gazebo_msgs/GetModelState";
+
+  class GetModelStateRequest : public ros::Msg
+  {
+    public:
+      const char* model_name;
+      const char* relative_entity_name;
+
+    GetModelStateRequest():
+      model_name(""),
+      relative_entity_name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_model_name = strlen(this->model_name);
+      memcpy(outbuffer + offset, &length_model_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->model_name, length_model_name);
+      offset += length_model_name;
+      uint32_t length_relative_entity_name = strlen(this->relative_entity_name);
+      memcpy(outbuffer + offset, &length_relative_entity_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->relative_entity_name, length_relative_entity_name);
+      offset += length_relative_entity_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_model_name;
+      memcpy(&length_model_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_model_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_model_name-1]=0;
+      this->model_name = (char *)(inbuffer + offset-1);
+      offset += length_model_name;
+      uint32_t length_relative_entity_name;
+      memcpy(&length_relative_entity_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_relative_entity_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_relative_entity_name-1]=0;
+      this->relative_entity_name = (char *)(inbuffer + offset-1);
+      offset += length_relative_entity_name;
+     return offset;
+    }
+
+    const char * getType(){ return GETMODELSTATE; };
+    const char * getMD5(){ return "19d412713cefe4a67437e17a951e759e"; };
+
+  };
+
+  class GetModelStateResponse : public ros::Msg
+  {
+    public:
+      geometry_msgs::Pose pose;
+      geometry_msgs::Twist twist;
+      bool success;
+      const char* status_message;
+
+    GetModelStateResponse():
+      pose(),
+      twist(),
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->pose.serialize(outbuffer + offset);
+      offset += this->twist.serialize(outbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->pose.deserialize(inbuffer + offset);
+      offset += this->twist.deserialize(inbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return GETMODELSTATE; };
+    const char * getMD5(){ return "1f8f991dc94e0cb27fe61383e0f576bb"; };
+
+  };
+
+  class GetModelState {
+    public:
+    typedef GetModelStateRequest Request;
+    typedef GetModelStateResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/GetPhysicsProperties.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/GetPhysicsProperties.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,192 @@
+#ifndef _ROS_SERVICE_GetPhysicsProperties_h
+#define _ROS_SERVICE_GetPhysicsProperties_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Vector3.h"
+#include "gazebo_msgs/ODEPhysics.h"
+
+namespace gazebo_msgs
+{
+
+static const char GETPHYSICSPROPERTIES[] = "gazebo_msgs/GetPhysicsProperties";
+
+  class GetPhysicsPropertiesRequest : public ros::Msg
+  {
+    public:
+
+    GetPhysicsPropertiesRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return GETPHYSICSPROPERTIES; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class GetPhysicsPropertiesResponse : public ros::Msg
+  {
+    public:
+      double time_step;
+      bool pause;
+      double max_update_rate;
+      geometry_msgs::Vector3 gravity;
+      gazebo_msgs::ODEPhysics ode_config;
+      bool success;
+      const char* status_message;
+
+    GetPhysicsPropertiesResponse():
+      time_step(0),
+      pause(0),
+      max_update_rate(0),
+      gravity(),
+      ode_config(),
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_time_step;
+      u_time_step.real = this->time_step;
+      *(outbuffer + offset + 0) = (u_time_step.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_time_step.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_time_step.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_time_step.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_time_step.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_time_step.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_time_step.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_time_step.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->time_step);
+      union {
+        bool real;
+        uint8_t base;
+      } u_pause;
+      u_pause.real = this->pause;
+      *(outbuffer + offset + 0) = (u_pause.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->pause);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_update_rate;
+      u_max_update_rate.real = this->max_update_rate;
+      *(outbuffer + offset + 0) = (u_max_update_rate.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_max_update_rate.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_max_update_rate.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_max_update_rate.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_max_update_rate.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_max_update_rate.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_max_update_rate.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_max_update_rate.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->max_update_rate);
+      offset += this->gravity.serialize(outbuffer + offset);
+      offset += this->ode_config.serialize(outbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_time_step;
+      u_time_step.base = 0;
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->time_step = u_time_step.real;
+      offset += sizeof(this->time_step);
+      union {
+        bool real;
+        uint8_t base;
+      } u_pause;
+      u_pause.base = 0;
+      u_pause.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->pause = u_pause.real;
+      offset += sizeof(this->pause);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_update_rate;
+      u_max_update_rate.base = 0;
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->max_update_rate = u_max_update_rate.real;
+      offset += sizeof(this->max_update_rate);
+      offset += this->gravity.deserialize(inbuffer + offset);
+      offset += this->ode_config.deserialize(inbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return GETPHYSICSPROPERTIES; };
+    const char * getMD5(){ return "575a5e74786981b7df2e3afc567693a6"; };
+
+  };
+
+  class GetPhysicsProperties {
+    public:
+    typedef GetPhysicsPropertiesRequest Request;
+    typedef GetPhysicsPropertiesResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/GetWorldProperties.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/GetWorldProperties.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,183 @@
+#ifndef _ROS_SERVICE_GetWorldProperties_h
+#define _ROS_SERVICE_GetWorldProperties_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace gazebo_msgs
+{
+
+static const char GETWORLDPROPERTIES[] = "gazebo_msgs/GetWorldProperties";
+
+  class GetWorldPropertiesRequest : public ros::Msg
+  {
+    public:
+
+    GetWorldPropertiesRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return GETWORLDPROPERTIES; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class GetWorldPropertiesResponse : public ros::Msg
+  {
+    public:
+      double sim_time;
+      uint8_t model_names_length;
+      char* st_model_names;
+      char* * model_names;
+      bool rendering_enabled;
+      bool success;
+      const char* status_message;
+
+    GetWorldPropertiesResponse():
+      sim_time(0),
+      model_names_length(0), model_names(NULL),
+      rendering_enabled(0),
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_sim_time;
+      u_sim_time.real = this->sim_time;
+      *(outbuffer + offset + 0) = (u_sim_time.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_sim_time.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_sim_time.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_sim_time.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_sim_time.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_sim_time.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_sim_time.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_sim_time.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->sim_time);
+      *(outbuffer + offset++) = model_names_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < model_names_length; i++){
+      uint32_t length_model_namesi = strlen(this->model_names[i]);
+      memcpy(outbuffer + offset, &length_model_namesi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->model_names[i], length_model_namesi);
+      offset += length_model_namesi;
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_rendering_enabled;
+      u_rendering_enabled.real = this->rendering_enabled;
+      *(outbuffer + offset + 0) = (u_rendering_enabled.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->rendering_enabled);
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_sim_time;
+      u_sim_time.base = 0;
+      u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_sim_time.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->sim_time = u_sim_time.real;
+      offset += sizeof(this->sim_time);
+      uint8_t model_names_lengthT = *(inbuffer + offset++);
+      if(model_names_lengthT > model_names_length)
+        this->model_names = (char**)realloc(this->model_names, model_names_lengthT * sizeof(char*));
+      offset += 3;
+      model_names_length = model_names_lengthT;
+      for( uint8_t i = 0; i < model_names_length; i++){
+      uint32_t length_st_model_names;
+      memcpy(&length_st_model_names, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_model_names; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_model_names-1]=0;
+      this->st_model_names = (char *)(inbuffer + offset-1);
+      offset += length_st_model_names;
+        memcpy( &(this->model_names[i]), &(this->st_model_names), sizeof(char*));
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_rendering_enabled;
+      u_rendering_enabled.base = 0;
+      u_rendering_enabled.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->rendering_enabled = u_rendering_enabled.real;
+      offset += sizeof(this->rendering_enabled);
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return GETWORLDPROPERTIES; };
+    const char * getMD5(){ return "36bb0f2eccf4d8be971410c22818ba3f"; };
+
+  };
+
+  class GetWorldProperties {
+    public:
+    typedef GetWorldPropertiesRequest Request;
+    typedef GetWorldPropertiesResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/JointRequest.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/JointRequest.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,86 @@
+#ifndef _ROS_SERVICE_JointRequest_h
+#define _ROS_SERVICE_JointRequest_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace gazebo_msgs
+{
+
+static const char JOINTREQUEST[] = "gazebo_msgs/JointRequest";
+
+  class JointRequestRequest : public ros::Msg
+  {
+    public:
+      const char* joint_name;
+
+    JointRequestRequest():
+      joint_name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_joint_name = strlen(this->joint_name);
+      memcpy(outbuffer + offset, &length_joint_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->joint_name, length_joint_name);
+      offset += length_joint_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_joint_name;
+      memcpy(&length_joint_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_joint_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_joint_name-1]=0;
+      this->joint_name = (char *)(inbuffer + offset-1);
+      offset += length_joint_name;
+     return offset;
+    }
+
+    const char * getType(){ return JOINTREQUEST; };
+    const char * getMD5(){ return "0be1351618e1dc030eb7959d9a4902de"; };
+
+  };
+
+  class JointRequestResponse : public ros::Msg
+  {
+    public:
+
+    JointRequestResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return JOINTREQUEST; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class JointRequest {
+    public:
+    typedef JointRequestRequest Request;
+    typedef JointRequestResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/LinkState.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/LinkState.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,80 @@
+#ifndef _ROS_gazebo_msgs_LinkState_h
+#define _ROS_gazebo_msgs_LinkState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Pose.h"
+#include "geometry_msgs/Twist.h"
+
+namespace gazebo_msgs
+{
+
+  class LinkState : public ros::Msg
+  {
+    public:
+      const char* link_name;
+      geometry_msgs::Pose pose;
+      geometry_msgs::Twist twist;
+      const char* reference_frame;
+
+    LinkState():
+      link_name(""),
+      pose(),
+      twist(),
+      reference_frame("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_link_name = strlen(this->link_name);
+      memcpy(outbuffer + offset, &length_link_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->link_name, length_link_name);
+      offset += length_link_name;
+      offset += this->pose.serialize(outbuffer + offset);
+      offset += this->twist.serialize(outbuffer + offset);
+      uint32_t length_reference_frame = strlen(this->reference_frame);
+      memcpy(outbuffer + offset, &length_reference_frame, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
+      offset += length_reference_frame;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_link_name;
+      memcpy(&length_link_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_link_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_link_name-1]=0;
+      this->link_name = (char *)(inbuffer + offset-1);
+      offset += length_link_name;
+      offset += this->pose.deserialize(inbuffer + offset);
+      offset += this->twist.deserialize(inbuffer + offset);
+      uint32_t length_reference_frame;
+      memcpy(&length_reference_frame, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_reference_frame-1]=0;
+      this->reference_frame = (char *)(inbuffer + offset-1);
+      offset += length_reference_frame;
+     return offset;
+    }
+
+    const char * getType(){ return "gazebo_msgs/LinkState"; };
+    const char * getMD5(){ return "0818ebbf28ce3a08d48ab1eaa7309ebe"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/LinkStates.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/LinkStates.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,112 @@
+#ifndef _ROS_gazebo_msgs_LinkStates_h
+#define _ROS_gazebo_msgs_LinkStates_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Pose.h"
+#include "geometry_msgs/Twist.h"
+
+namespace gazebo_msgs
+{
+
+  class LinkStates : public ros::Msg
+  {
+    public:
+      uint8_t name_length;
+      char* st_name;
+      char* * name;
+      uint8_t pose_length;
+      geometry_msgs::Pose st_pose;
+      geometry_msgs::Pose * pose;
+      uint8_t twist_length;
+      geometry_msgs::Twist st_twist;
+      geometry_msgs::Twist * twist;
+
+    LinkStates():
+      name_length(0), name(NULL),
+      pose_length(0), pose(NULL),
+      twist_length(0), twist(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = name_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < name_length; i++){
+      uint32_t length_namei = strlen(this->name[i]);
+      memcpy(outbuffer + offset, &length_namei, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name[i], length_namei);
+      offset += length_namei;
+      }
+      *(outbuffer + offset++) = pose_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < pose_length; i++){
+      offset += this->pose[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = twist_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < twist_length; i++){
+      offset += this->twist[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t name_lengthT = *(inbuffer + offset++);
+      if(name_lengthT > name_length)
+        this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
+      offset += 3;
+      name_length = name_lengthT;
+      for( uint8_t i = 0; i < name_length; i++){
+      uint32_t length_st_name;
+      memcpy(&length_st_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_name-1]=0;
+      this->st_name = (char *)(inbuffer + offset-1);
+      offset += length_st_name;
+        memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
+      }
+      uint8_t pose_lengthT = *(inbuffer + offset++);
+      if(pose_lengthT > pose_length)
+        this->pose = (geometry_msgs::Pose*)realloc(this->pose, pose_lengthT * sizeof(geometry_msgs::Pose));
+      offset += 3;
+      pose_length = pose_lengthT;
+      for( uint8_t i = 0; i < pose_length; i++){
+      offset += this->st_pose.deserialize(inbuffer + offset);
+        memcpy( &(this->pose[i]), &(this->st_pose), sizeof(geometry_msgs::Pose));
+      }
+      uint8_t twist_lengthT = *(inbuffer + offset++);
+      if(twist_lengthT > twist_length)
+        this->twist = (geometry_msgs::Twist*)realloc(this->twist, twist_lengthT * sizeof(geometry_msgs::Twist));
+      offset += 3;
+      twist_length = twist_lengthT;
+      for( uint8_t i = 0; i < twist_length; i++){
+      offset += this->st_twist.deserialize(inbuffer + offset);
+        memcpy( &(this->twist[i]), &(this->st_twist), sizeof(geometry_msgs::Twist));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "gazebo_msgs/LinkStates"; };
+    const char * getMD5(){ return "48c080191eb15c41858319b4d8a609c2"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/ModelState.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/ModelState.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,80 @@
+#ifndef _ROS_gazebo_msgs_ModelState_h
+#define _ROS_gazebo_msgs_ModelState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Pose.h"
+#include "geometry_msgs/Twist.h"
+
+namespace gazebo_msgs
+{
+
+  class ModelState : public ros::Msg
+  {
+    public:
+      const char* model_name;
+      geometry_msgs::Pose pose;
+      geometry_msgs::Twist twist;
+      const char* reference_frame;
+
+    ModelState():
+      model_name(""),
+      pose(),
+      twist(),
+      reference_frame("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_model_name = strlen(this->model_name);
+      memcpy(outbuffer + offset, &length_model_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->model_name, length_model_name);
+      offset += length_model_name;
+      offset += this->pose.serialize(outbuffer + offset);
+      offset += this->twist.serialize(outbuffer + offset);
+      uint32_t length_reference_frame = strlen(this->reference_frame);
+      memcpy(outbuffer + offset, &length_reference_frame, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
+      offset += length_reference_frame;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_model_name;
+      memcpy(&length_model_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_model_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_model_name-1]=0;
+      this->model_name = (char *)(inbuffer + offset-1);
+      offset += length_model_name;
+      offset += this->pose.deserialize(inbuffer + offset);
+      offset += this->twist.deserialize(inbuffer + offset);
+      uint32_t length_reference_frame;
+      memcpy(&length_reference_frame, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_reference_frame-1]=0;
+      this->reference_frame = (char *)(inbuffer + offset-1);
+      offset += length_reference_frame;
+     return offset;
+    }
+
+    const char * getType(){ return "gazebo_msgs/ModelState"; };
+    const char * getMD5(){ return "9330fd35f2fcd82d457e54bd54e10593"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/ModelStates.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/ModelStates.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,112 @@
+#ifndef _ROS_gazebo_msgs_ModelStates_h
+#define _ROS_gazebo_msgs_ModelStates_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Pose.h"
+#include "geometry_msgs/Twist.h"
+
+namespace gazebo_msgs
+{
+
+  class ModelStates : public ros::Msg
+  {
+    public:
+      uint8_t name_length;
+      char* st_name;
+      char* * name;
+      uint8_t pose_length;
+      geometry_msgs::Pose st_pose;
+      geometry_msgs::Pose * pose;
+      uint8_t twist_length;
+      geometry_msgs::Twist st_twist;
+      geometry_msgs::Twist * twist;
+
+    ModelStates():
+      name_length(0), name(NULL),
+      pose_length(0), pose(NULL),
+      twist_length(0), twist(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = name_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < name_length; i++){
+      uint32_t length_namei = strlen(this->name[i]);
+      memcpy(outbuffer + offset, &length_namei, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name[i], length_namei);
+      offset += length_namei;
+      }
+      *(outbuffer + offset++) = pose_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < pose_length; i++){
+      offset += this->pose[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = twist_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < twist_length; i++){
+      offset += this->twist[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t name_lengthT = *(inbuffer + offset++);
+      if(name_lengthT > name_length)
+        this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
+      offset += 3;
+      name_length = name_lengthT;
+      for( uint8_t i = 0; i < name_length; i++){
+      uint32_t length_st_name;
+      memcpy(&length_st_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_name-1]=0;
+      this->st_name = (char *)(inbuffer + offset-1);
+      offset += length_st_name;
+        memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
+      }
+      uint8_t pose_lengthT = *(inbuffer + offset++);
+      if(pose_lengthT > pose_length)
+        this->pose = (geometry_msgs::Pose*)realloc(this->pose, pose_lengthT * sizeof(geometry_msgs::Pose));
+      offset += 3;
+      pose_length = pose_lengthT;
+      for( uint8_t i = 0; i < pose_length; i++){
+      offset += this->st_pose.deserialize(inbuffer + offset);
+        memcpy( &(this->pose[i]), &(this->st_pose), sizeof(geometry_msgs::Pose));
+      }
+      uint8_t twist_lengthT = *(inbuffer + offset++);
+      if(twist_lengthT > twist_length)
+        this->twist = (geometry_msgs::Twist*)realloc(this->twist, twist_lengthT * sizeof(geometry_msgs::Twist));
+      offset += 3;
+      twist_length = twist_lengthT;
+      for( uint8_t i = 0; i < twist_length; i++){
+      offset += this->st_twist.deserialize(inbuffer + offset);
+        memcpy( &(this->twist[i]), &(this->st_twist), sizeof(geometry_msgs::Twist));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "gazebo_msgs/ModelStates"; };
+    const char * getMD5(){ return "48c080191eb15c41858319b4d8a609c2"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/ODEJointProperties.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/ODEJointProperties.h	Thu Mar 31 23:23:15 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
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/ODEPhysics.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/ODEPhysics.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,277 @@
+#ifndef _ROS_gazebo_msgs_ODEPhysics_h
+#define _ROS_gazebo_msgs_ODEPhysics_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace gazebo_msgs
+{
+
+  class ODEPhysics : public ros::Msg
+  {
+    public:
+      bool auto_disable_bodies;
+      uint32_t sor_pgs_precon_iters;
+      uint32_t sor_pgs_iters;
+      double sor_pgs_w;
+      double sor_pgs_rms_error_tol;
+      double contact_surface_layer;
+      double contact_max_correcting_vel;
+      double cfm;
+      double erp;
+      uint32_t max_contacts;
+
+    ODEPhysics():
+      auto_disable_bodies(0),
+      sor_pgs_precon_iters(0),
+      sor_pgs_iters(0),
+      sor_pgs_w(0),
+      sor_pgs_rms_error_tol(0),
+      contact_surface_layer(0),
+      contact_max_correcting_vel(0),
+      cfm(0),
+      erp(0),
+      max_contacts(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_auto_disable_bodies;
+      u_auto_disable_bodies.real = this->auto_disable_bodies;
+      *(outbuffer + offset + 0) = (u_auto_disable_bodies.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->auto_disable_bodies);
+      *(outbuffer + offset + 0) = (this->sor_pgs_precon_iters >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->sor_pgs_precon_iters >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->sor_pgs_precon_iters >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->sor_pgs_precon_iters >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->sor_pgs_precon_iters);
+      *(outbuffer + offset + 0) = (this->sor_pgs_iters >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->sor_pgs_iters >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->sor_pgs_iters >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->sor_pgs_iters >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->sor_pgs_iters);
+      union {
+        double real;
+        uint64_t base;
+      } u_sor_pgs_w;
+      u_sor_pgs_w.real = this->sor_pgs_w;
+      *(outbuffer + offset + 0) = (u_sor_pgs_w.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_sor_pgs_w.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_sor_pgs_w.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_sor_pgs_w.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_sor_pgs_w.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_sor_pgs_w.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_sor_pgs_w.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_sor_pgs_w.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->sor_pgs_w);
+      union {
+        double real;
+        uint64_t base;
+      } u_sor_pgs_rms_error_tol;
+      u_sor_pgs_rms_error_tol.real = this->sor_pgs_rms_error_tol;
+      *(outbuffer + offset + 0) = (u_sor_pgs_rms_error_tol.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_sor_pgs_rms_error_tol.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_sor_pgs_rms_error_tol.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_sor_pgs_rms_error_tol.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_sor_pgs_rms_error_tol.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_sor_pgs_rms_error_tol.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_sor_pgs_rms_error_tol.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_sor_pgs_rms_error_tol.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->sor_pgs_rms_error_tol);
+      union {
+        double real;
+        uint64_t base;
+      } u_contact_surface_layer;
+      u_contact_surface_layer.real = this->contact_surface_layer;
+      *(outbuffer + offset + 0) = (u_contact_surface_layer.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_contact_surface_layer.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_contact_surface_layer.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_contact_surface_layer.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_contact_surface_layer.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_contact_surface_layer.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_contact_surface_layer.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_contact_surface_layer.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->contact_surface_layer);
+      union {
+        double real;
+        uint64_t base;
+      } u_contact_max_correcting_vel;
+      u_contact_max_correcting_vel.real = this->contact_max_correcting_vel;
+      *(outbuffer + offset + 0) = (u_contact_max_correcting_vel.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_contact_max_correcting_vel.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_contact_max_correcting_vel.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_contact_max_correcting_vel.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_contact_max_correcting_vel.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_contact_max_correcting_vel.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_contact_max_correcting_vel.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_contact_max_correcting_vel.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->contact_max_correcting_vel);
+      union {
+        double real;
+        uint64_t base;
+      } u_cfm;
+      u_cfm.real = this->cfm;
+      *(outbuffer + offset + 0) = (u_cfm.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_cfm.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_cfm.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_cfm.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_cfm.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_cfm.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_cfm.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_cfm.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->cfm);
+      union {
+        double real;
+        uint64_t base;
+      } u_erp;
+      u_erp.real = this->erp;
+      *(outbuffer + offset + 0) = (u_erp.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_erp.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_erp.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_erp.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_erp.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_erp.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_erp.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_erp.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->erp);
+      *(outbuffer + offset + 0) = (this->max_contacts >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->max_contacts >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->max_contacts >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->max_contacts >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->max_contacts);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_auto_disable_bodies;
+      u_auto_disable_bodies.base = 0;
+      u_auto_disable_bodies.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->auto_disable_bodies = u_auto_disable_bodies.real;
+      offset += sizeof(this->auto_disable_bodies);
+      this->sor_pgs_precon_iters =  ((uint32_t) (*(inbuffer + offset)));
+      this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->sor_pgs_precon_iters |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->sor_pgs_precon_iters);
+      this->sor_pgs_iters =  ((uint32_t) (*(inbuffer + offset)));
+      this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->sor_pgs_iters |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->sor_pgs_iters);
+      union {
+        double real;
+        uint64_t base;
+      } u_sor_pgs_w;
+      u_sor_pgs_w.base = 0;
+      u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_sor_pgs_w.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->sor_pgs_w = u_sor_pgs_w.real;
+      offset += sizeof(this->sor_pgs_w);
+      union {
+        double real;
+        uint64_t base;
+      } u_sor_pgs_rms_error_tol;
+      u_sor_pgs_rms_error_tol.base = 0;
+      u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_sor_pgs_rms_error_tol.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->sor_pgs_rms_error_tol = u_sor_pgs_rms_error_tol.real;
+      offset += sizeof(this->sor_pgs_rms_error_tol);
+      union {
+        double real;
+        uint64_t base;
+      } u_contact_surface_layer;
+      u_contact_surface_layer.base = 0;
+      u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_contact_surface_layer.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->contact_surface_layer = u_contact_surface_layer.real;
+      offset += sizeof(this->contact_surface_layer);
+      union {
+        double real;
+        uint64_t base;
+      } u_contact_max_correcting_vel;
+      u_contact_max_correcting_vel.base = 0;
+      u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_contact_max_correcting_vel.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->contact_max_correcting_vel = u_contact_max_correcting_vel.real;
+      offset += sizeof(this->contact_max_correcting_vel);
+      union {
+        double real;
+        uint64_t base;
+      } u_cfm;
+      u_cfm.base = 0;
+      u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_cfm.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->cfm = u_cfm.real;
+      offset += sizeof(this->cfm);
+      union {
+        double real;
+        uint64_t base;
+      } u_erp;
+      u_erp.base = 0;
+      u_erp.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_erp.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_erp.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_erp.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_erp.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_erp.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_erp.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_erp.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->erp = u_erp.real;
+      offset += sizeof(this->erp);
+      this->max_contacts =  ((uint32_t) (*(inbuffer + offset)));
+      this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->max_contacts |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->max_contacts);
+     return offset;
+    }
+
+    const char * getType(){ return "gazebo_msgs/ODEPhysics"; };
+    const char * getMD5(){ return "667d56ddbd547918c32d1934503dc335"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/SetJointProperties.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/SetJointProperties.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,124 @@
+#ifndef _ROS_SERVICE_SetJointProperties_h
+#define _ROS_SERVICE_SetJointProperties_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "gazebo_msgs/ODEJointProperties.h"
+
+namespace gazebo_msgs
+{
+
+static const char SETJOINTPROPERTIES[] = "gazebo_msgs/SetJointProperties";
+
+  class SetJointPropertiesRequest : public ros::Msg
+  {
+    public:
+      const char* joint_name;
+      gazebo_msgs::ODEJointProperties ode_joint_config;
+
+    SetJointPropertiesRequest():
+      joint_name(""),
+      ode_joint_config()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_joint_name = strlen(this->joint_name);
+      memcpy(outbuffer + offset, &length_joint_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->joint_name, length_joint_name);
+      offset += length_joint_name;
+      offset += this->ode_joint_config.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_joint_name;
+      memcpy(&length_joint_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_joint_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_joint_name-1]=0;
+      this->joint_name = (char *)(inbuffer + offset-1);
+      offset += length_joint_name;
+      offset += this->ode_joint_config.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return SETJOINTPROPERTIES; };
+    const char * getMD5(){ return "331fd8f35fd27e3c1421175590258e26"; };
+
+  };
+
+  class SetJointPropertiesResponse : public ros::Msg
+  {
+    public:
+      bool success;
+      const char* status_message;
+
+    SetJointPropertiesResponse():
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return SETJOINTPROPERTIES; };
+    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
+
+  };
+
+  class SetJointProperties {
+    public:
+    typedef SetJointPropertiesRequest Request;
+    typedef SetJointPropertiesResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/SetJointTrajectory.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/SetJointTrajectory.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,163 @@
+#ifndef _ROS_SERVICE_SetJointTrajectory_h
+#define _ROS_SERVICE_SetJointTrajectory_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "trajectory_msgs/JointTrajectory.h"
+#include "geometry_msgs/Pose.h"
+
+namespace gazebo_msgs
+{
+
+static const char SETJOINTTRAJECTORY[] = "gazebo_msgs/SetJointTrajectory";
+
+  class SetJointTrajectoryRequest : public ros::Msg
+  {
+    public:
+      const char* model_name;
+      trajectory_msgs::JointTrajectory joint_trajectory;
+      geometry_msgs::Pose model_pose;
+      bool set_model_pose;
+      bool disable_physics_updates;
+
+    SetJointTrajectoryRequest():
+      model_name(""),
+      joint_trajectory(),
+      model_pose(),
+      set_model_pose(0),
+      disable_physics_updates(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_model_name = strlen(this->model_name);
+      memcpy(outbuffer + offset, &length_model_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->model_name, length_model_name);
+      offset += length_model_name;
+      offset += this->joint_trajectory.serialize(outbuffer + offset);
+      offset += this->model_pose.serialize(outbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_set_model_pose;
+      u_set_model_pose.real = this->set_model_pose;
+      *(outbuffer + offset + 0) = (u_set_model_pose.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->set_model_pose);
+      union {
+        bool real;
+        uint8_t base;
+      } u_disable_physics_updates;
+      u_disable_physics_updates.real = this->disable_physics_updates;
+      *(outbuffer + offset + 0) = (u_disable_physics_updates.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->disable_physics_updates);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_model_name;
+      memcpy(&length_model_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_model_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_model_name-1]=0;
+      this->model_name = (char *)(inbuffer + offset-1);
+      offset += length_model_name;
+      offset += this->joint_trajectory.deserialize(inbuffer + offset);
+      offset += this->model_pose.deserialize(inbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_set_model_pose;
+      u_set_model_pose.base = 0;
+      u_set_model_pose.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->set_model_pose = u_set_model_pose.real;
+      offset += sizeof(this->set_model_pose);
+      union {
+        bool real;
+        uint8_t base;
+      } u_disable_physics_updates;
+      u_disable_physics_updates.base = 0;
+      u_disable_physics_updates.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->disable_physics_updates = u_disable_physics_updates.real;
+      offset += sizeof(this->disable_physics_updates);
+     return offset;
+    }
+
+    const char * getType(){ return SETJOINTTRAJECTORY; };
+    const char * getMD5(){ return "649dd2eba5ffd358069238825f9f85ab"; };
+
+  };
+
+  class SetJointTrajectoryResponse : public ros::Msg
+  {
+    public:
+      bool success;
+      const char* status_message;
+
+    SetJointTrajectoryResponse():
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return SETJOINTTRAJECTORY; };
+    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
+
+  };
+
+  class SetJointTrajectory {
+    public:
+    typedef SetJointTrajectoryRequest Request;
+    typedef SetJointTrajectoryResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/SetLinkProperties.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/SetLinkProperties.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,358 @@
+#ifndef _ROS_SERVICE_SetLinkProperties_h
+#define _ROS_SERVICE_SetLinkProperties_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Pose.h"
+
+namespace gazebo_msgs
+{
+
+static const char SETLINKPROPERTIES[] = "gazebo_msgs/SetLinkProperties";
+
+  class SetLinkPropertiesRequest : public ros::Msg
+  {
+    public:
+      const char* link_name;
+      geometry_msgs::Pose com;
+      bool gravity_mode;
+      double mass;
+      double ixx;
+      double ixy;
+      double ixz;
+      double iyy;
+      double iyz;
+      double izz;
+
+    SetLinkPropertiesRequest():
+      link_name(""),
+      com(),
+      gravity_mode(0),
+      mass(0),
+      ixx(0),
+      ixy(0),
+      ixz(0),
+      iyy(0),
+      iyz(0),
+      izz(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_link_name = strlen(this->link_name);
+      memcpy(outbuffer + offset, &length_link_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->link_name, length_link_name);
+      offset += length_link_name;
+      offset += this->com.serialize(outbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_gravity_mode;
+      u_gravity_mode.real = this->gravity_mode;
+      *(outbuffer + offset + 0) = (u_gravity_mode.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->gravity_mode);
+      union {
+        double real;
+        uint64_t base;
+      } u_mass;
+      u_mass.real = this->mass;
+      *(outbuffer + offset + 0) = (u_mass.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_mass.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_mass.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_mass.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_mass.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_mass.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_mass.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_mass.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->mass);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixx;
+      u_ixx.real = this->ixx;
+      *(outbuffer + offset + 0) = (u_ixx.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_ixx.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_ixx.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_ixx.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_ixx.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_ixx.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_ixx.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_ixx.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->ixx);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixy;
+      u_ixy.real = this->ixy;
+      *(outbuffer + offset + 0) = (u_ixy.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_ixy.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_ixy.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_ixy.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_ixy.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_ixy.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_ixy.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_ixy.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->ixy);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixz;
+      u_ixz.real = this->ixz;
+      *(outbuffer + offset + 0) = (u_ixz.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_ixz.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_ixz.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_ixz.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_ixz.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_ixz.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_ixz.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_ixz.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->ixz);
+      union {
+        double real;
+        uint64_t base;
+      } u_iyy;
+      u_iyy.real = this->iyy;
+      *(outbuffer + offset + 0) = (u_iyy.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_iyy.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_iyy.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_iyy.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_iyy.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_iyy.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_iyy.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_iyy.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->iyy);
+      union {
+        double real;
+        uint64_t base;
+      } u_iyz;
+      u_iyz.real = this->iyz;
+      *(outbuffer + offset + 0) = (u_iyz.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_iyz.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_iyz.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_iyz.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_iyz.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_iyz.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_iyz.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_iyz.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->iyz);
+      union {
+        double real;
+        uint64_t base;
+      } u_izz;
+      u_izz.real = this->izz;
+      *(outbuffer + offset + 0) = (u_izz.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_izz.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_izz.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_izz.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_izz.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_izz.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_izz.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_izz.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->izz);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_link_name;
+      memcpy(&length_link_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_link_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_link_name-1]=0;
+      this->link_name = (char *)(inbuffer + offset-1);
+      offset += length_link_name;
+      offset += this->com.deserialize(inbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_gravity_mode;
+      u_gravity_mode.base = 0;
+      u_gravity_mode.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->gravity_mode = u_gravity_mode.real;
+      offset += sizeof(this->gravity_mode);
+      union {
+        double real;
+        uint64_t base;
+      } u_mass;
+      u_mass.base = 0;
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_mass.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->mass = u_mass.real;
+      offset += sizeof(this->mass);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixx;
+      u_ixx.base = 0;
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->ixx = u_ixx.real;
+      offset += sizeof(this->ixx);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixy;
+      u_ixy.base = 0;
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->ixy = u_ixy.real;
+      offset += sizeof(this->ixy);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixz;
+      u_ixz.base = 0;
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->ixz = u_ixz.real;
+      offset += sizeof(this->ixz);
+      union {
+        double real;
+        uint64_t base;
+      } u_iyy;
+      u_iyy.base = 0;
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->iyy = u_iyy.real;
+      offset += sizeof(this->iyy);
+      union {
+        double real;
+        uint64_t base;
+      } u_iyz;
+      u_iyz.base = 0;
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->iyz = u_iyz.real;
+      offset += sizeof(this->iyz);
+      union {
+        double real;
+        uint64_t base;
+      } u_izz;
+      u_izz.base = 0;
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->izz = u_izz.real;
+      offset += sizeof(this->izz);
+     return offset;
+    }
+
+    const char * getType(){ return SETLINKPROPERTIES; };
+    const char * getMD5(){ return "68ac74a4be01b165bc305b5ccdc45e91"; };
+
+  };
+
+  class SetLinkPropertiesResponse : public ros::Msg
+  {
+    public:
+      bool success;
+      const char* status_message;
+
+    SetLinkPropertiesResponse():
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return SETLINKPROPERTIES; };
+    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
+
+  };
+
+  class SetLinkProperties {
+    public:
+    typedef SetLinkPropertiesRequest Request;
+    typedef SetLinkPropertiesResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/SetLinkState.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/SetLinkState.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,108 @@
+#ifndef _ROS_SERVICE_SetLinkState_h
+#define _ROS_SERVICE_SetLinkState_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "gazebo_msgs/LinkState.h"
+
+namespace gazebo_msgs
+{
+
+static const char SETLINKSTATE[] = "gazebo_msgs/SetLinkState";
+
+  class SetLinkStateRequest : public ros::Msg
+  {
+    public:
+      gazebo_msgs::LinkState link_state;
+
+    SetLinkStateRequest():
+      link_state()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->link_state.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->link_state.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return SETLINKSTATE; };
+    const char * getMD5(){ return "22a2c757d56911b6f27868159e9a872d"; };
+
+  };
+
+  class SetLinkStateResponse : public ros::Msg
+  {
+    public:
+      bool success;
+      const char* status_message;
+
+    SetLinkStateResponse():
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return SETLINKSTATE; };
+    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
+
+  };
+
+  class SetLinkState {
+    public:
+    typedef SetLinkStateRequest Request;
+    typedef SetLinkStateResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/SetModelConfiguration.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/SetModelConfiguration.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,214 @@
+#ifndef _ROS_SERVICE_SetModelConfiguration_h
+#define _ROS_SERVICE_SetModelConfiguration_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace gazebo_msgs
+{
+
+static const char SETMODELCONFIGURATION[] = "gazebo_msgs/SetModelConfiguration";
+
+  class SetModelConfigurationRequest : public ros::Msg
+  {
+    public:
+      const char* model_name;
+      const char* urdf_param_name;
+      uint8_t joint_names_length;
+      char* st_joint_names;
+      char* * joint_names;
+      uint8_t joint_positions_length;
+      double st_joint_positions;
+      double * joint_positions;
+
+    SetModelConfigurationRequest():
+      model_name(""),
+      urdf_param_name(""),
+      joint_names_length(0), joint_names(NULL),
+      joint_positions_length(0), joint_positions(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_model_name = strlen(this->model_name);
+      memcpy(outbuffer + offset, &length_model_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->model_name, length_model_name);
+      offset += length_model_name;
+      uint32_t length_urdf_param_name = strlen(this->urdf_param_name);
+      memcpy(outbuffer + offset, &length_urdf_param_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->urdf_param_name, length_urdf_param_name);
+      offset += length_urdf_param_name;
+      *(outbuffer + offset++) = joint_names_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < joint_names_length; i++){
+      uint32_t length_joint_namesi = strlen(this->joint_names[i]);
+      memcpy(outbuffer + offset, &length_joint_namesi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
+      offset += length_joint_namesi;
+      }
+      *(outbuffer + offset++) = joint_positions_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < joint_positions_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_joint_positionsi;
+      u_joint_positionsi.real = this->joint_positions[i];
+      *(outbuffer + offset + 0) = (u_joint_positionsi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_joint_positionsi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_joint_positionsi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_joint_positionsi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_joint_positionsi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_joint_positionsi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_joint_positionsi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_joint_positionsi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->joint_positions[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_model_name;
+      memcpy(&length_model_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_model_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_model_name-1]=0;
+      this->model_name = (char *)(inbuffer + offset-1);
+      offset += length_model_name;
+      uint32_t length_urdf_param_name;
+      memcpy(&length_urdf_param_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_urdf_param_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_urdf_param_name-1]=0;
+      this->urdf_param_name = (char *)(inbuffer + offset-1);
+      offset += length_urdf_param_name;
+      uint8_t joint_names_lengthT = *(inbuffer + offset++);
+      if(joint_names_lengthT > joint_names_length)
+        this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
+      offset += 3;
+      joint_names_length = joint_names_lengthT;
+      for( uint8_t i = 0; i < joint_names_length; i++){
+      uint32_t length_st_joint_names;
+      memcpy(&length_st_joint_names, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_joint_names-1]=0;
+      this->st_joint_names = (char *)(inbuffer + offset-1);
+      offset += length_st_joint_names;
+        memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
+      }
+      uint8_t joint_positions_lengthT = *(inbuffer + offset++);
+      if(joint_positions_lengthT > joint_positions_length)
+        this->joint_positions = (double*)realloc(this->joint_positions, joint_positions_lengthT * sizeof(double));
+      offset += 3;
+      joint_positions_length = joint_positions_lengthT;
+      for( uint8_t i = 0; i < joint_positions_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_joint_positions;
+      u_st_joint_positions.base = 0;
+      u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_joint_positions.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_joint_positions = u_st_joint_positions.real;
+      offset += sizeof(this->st_joint_positions);
+        memcpy( &(this->joint_positions[i]), &(this->st_joint_positions), sizeof(double));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return SETMODELCONFIGURATION; };
+    const char * getMD5(){ return "160eae60f51fabff255480c70afa289f"; };
+
+  };
+
+  class SetModelConfigurationResponse : public ros::Msg
+  {
+    public:
+      bool success;
+      const char* status_message;
+
+    SetModelConfigurationResponse():
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return SETMODELCONFIGURATION; };
+    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
+
+  };
+
+  class SetModelConfiguration {
+    public:
+    typedef SetModelConfigurationRequest Request;
+    typedef SetModelConfigurationResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/SetModelState.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/SetModelState.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,108 @@
+#ifndef _ROS_SERVICE_SetModelState_h
+#define _ROS_SERVICE_SetModelState_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "gazebo_msgs/ModelState.h"
+
+namespace gazebo_msgs
+{
+
+static const char SETMODELSTATE[] = "gazebo_msgs/SetModelState";
+
+  class SetModelStateRequest : public ros::Msg
+  {
+    public:
+      gazebo_msgs::ModelState model_state;
+
+    SetModelStateRequest():
+      model_state()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->model_state.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->model_state.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return SETMODELSTATE; };
+    const char * getMD5(){ return "cb042b0e91880f4661b29ea5b6234350"; };
+
+  };
+
+  class SetModelStateResponse : public ros::Msg
+  {
+    public:
+      bool success;
+      const char* status_message;
+
+    SetModelStateResponse():
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return SETMODELSTATE; };
+    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
+
+  };
+
+  class SetModelState {
+    public:
+    typedef SetModelStateRequest Request;
+    typedef SetModelStateResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/SetPhysicsProperties.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/SetPhysicsProperties.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,175 @@
+#ifndef _ROS_SERVICE_SetPhysicsProperties_h
+#define _ROS_SERVICE_SetPhysicsProperties_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Vector3.h"
+#include "gazebo_msgs/ODEPhysics.h"
+
+namespace gazebo_msgs
+{
+
+static const char SETPHYSICSPROPERTIES[] = "gazebo_msgs/SetPhysicsProperties";
+
+  class SetPhysicsPropertiesRequest : public ros::Msg
+  {
+    public:
+      double time_step;
+      double max_update_rate;
+      geometry_msgs::Vector3 gravity;
+      gazebo_msgs::ODEPhysics ode_config;
+
+    SetPhysicsPropertiesRequest():
+      time_step(0),
+      max_update_rate(0),
+      gravity(),
+      ode_config()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_time_step;
+      u_time_step.real = this->time_step;
+      *(outbuffer + offset + 0) = (u_time_step.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_time_step.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_time_step.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_time_step.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_time_step.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_time_step.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_time_step.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_time_step.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->time_step);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_update_rate;
+      u_max_update_rate.real = this->max_update_rate;
+      *(outbuffer + offset + 0) = (u_max_update_rate.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_max_update_rate.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_max_update_rate.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_max_update_rate.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_max_update_rate.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_max_update_rate.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_max_update_rate.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_max_update_rate.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->max_update_rate);
+      offset += this->gravity.serialize(outbuffer + offset);
+      offset += this->ode_config.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_time_step;
+      u_time_step.base = 0;
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_time_step.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->time_step = u_time_step.real;
+      offset += sizeof(this->time_step);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_update_rate;
+      u_max_update_rate.base = 0;
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_max_update_rate.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->max_update_rate = u_max_update_rate.real;
+      offset += sizeof(this->max_update_rate);
+      offset += this->gravity.deserialize(inbuffer + offset);
+      offset += this->ode_config.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return SETPHYSICSPROPERTIES; };
+    const char * getMD5(){ return "abd9f82732b52b92e9d6bb36e6a82452"; };
+
+  };
+
+  class SetPhysicsPropertiesResponse : public ros::Msg
+  {
+    public:
+      bool success;
+      const char* status_message;
+
+    SetPhysicsPropertiesResponse():
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return SETPHYSICSPROPERTIES; };
+    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
+
+  };
+
+  class SetPhysicsProperties {
+    public:
+    typedef SetPhysicsPropertiesRequest Request;
+    typedef SetPhysicsPropertiesResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/SpawnModel.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/SpawnModel.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,172 @@
+#ifndef _ROS_SERVICE_SpawnModel_h
+#define _ROS_SERVICE_SpawnModel_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Pose.h"
+
+namespace gazebo_msgs
+{
+
+static const char SPAWNMODEL[] = "gazebo_msgs/SpawnModel";
+
+  class SpawnModelRequest : public ros::Msg
+  {
+    public:
+      const char* model_name;
+      const char* model_xml;
+      const char* robot_namespace;
+      geometry_msgs::Pose initial_pose;
+      const char* reference_frame;
+
+    SpawnModelRequest():
+      model_name(""),
+      model_xml(""),
+      robot_namespace(""),
+      initial_pose(),
+      reference_frame("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_model_name = strlen(this->model_name);
+      memcpy(outbuffer + offset, &length_model_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->model_name, length_model_name);
+      offset += length_model_name;
+      uint32_t length_model_xml = strlen(this->model_xml);
+      memcpy(outbuffer + offset, &length_model_xml, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->model_xml, length_model_xml);
+      offset += length_model_xml;
+      uint32_t length_robot_namespace = strlen(this->robot_namespace);
+      memcpy(outbuffer + offset, &length_robot_namespace, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->robot_namespace, length_robot_namespace);
+      offset += length_robot_namespace;
+      offset += this->initial_pose.serialize(outbuffer + offset);
+      uint32_t length_reference_frame = strlen(this->reference_frame);
+      memcpy(outbuffer + offset, &length_reference_frame, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->reference_frame, length_reference_frame);
+      offset += length_reference_frame;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_model_name;
+      memcpy(&length_model_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_model_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_model_name-1]=0;
+      this->model_name = (char *)(inbuffer + offset-1);
+      offset += length_model_name;
+      uint32_t length_model_xml;
+      memcpy(&length_model_xml, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_model_xml; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_model_xml-1]=0;
+      this->model_xml = (char *)(inbuffer + offset-1);
+      offset += length_model_xml;
+      uint32_t length_robot_namespace;
+      memcpy(&length_robot_namespace, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_robot_namespace; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_robot_namespace-1]=0;
+      this->robot_namespace = (char *)(inbuffer + offset-1);
+      offset += length_robot_namespace;
+      offset += this->initial_pose.deserialize(inbuffer + offset);
+      uint32_t length_reference_frame;
+      memcpy(&length_reference_frame, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_reference_frame; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_reference_frame-1]=0;
+      this->reference_frame = (char *)(inbuffer + offset-1);
+      offset += length_reference_frame;
+     return offset;
+    }
+
+    const char * getType(){ return SPAWNMODEL; };
+    const char * getMD5(){ return "6d0eba5753761cd57e6263a056b79930"; };
+
+  };
+
+  class SpawnModelResponse : public ros::Msg
+  {
+    public:
+      bool success;
+      const char* status_message;
+
+    SpawnModelResponse():
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return SPAWNMODEL; };
+    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
+
+  };
+
+  class SpawnModel {
+    public:
+    typedef SpawnModelRequest Request;
+    typedef SpawnModelResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 gazebo_msgs/WorldState.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/WorldState.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,138 @@
+#ifndef _ROS_gazebo_msgs_WorldState_h
+#define _ROS_gazebo_msgs_WorldState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Pose.h"
+#include "geometry_msgs/Twist.h"
+#include "geometry_msgs/Wrench.h"
+
+namespace gazebo_msgs
+{
+
+  class WorldState : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t name_length;
+      char* st_name;
+      char* * name;
+      uint8_t pose_length;
+      geometry_msgs::Pose st_pose;
+      geometry_msgs::Pose * pose;
+      uint8_t twist_length;
+      geometry_msgs::Twist st_twist;
+      geometry_msgs::Twist * twist;
+      uint8_t wrench_length;
+      geometry_msgs::Wrench st_wrench;
+      geometry_msgs::Wrench * wrench;
+
+    WorldState():
+      header(),
+      name_length(0), name(NULL),
+      pose_length(0), pose(NULL),
+      twist_length(0), twist(NULL),
+      wrench_length(0), wrench(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = name_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < name_length; i++){
+      uint32_t length_namei = strlen(this->name[i]);
+      memcpy(outbuffer + offset, &length_namei, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name[i], length_namei);
+      offset += length_namei;
+      }
+      *(outbuffer + offset++) = pose_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < pose_length; i++){
+      offset += this->pose[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = twist_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < twist_length; i++){
+      offset += this->twist[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = wrench_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < wrench_length; i++){
+      offset += this->wrench[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t name_lengthT = *(inbuffer + offset++);
+      if(name_lengthT > name_length)
+        this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
+      offset += 3;
+      name_length = name_lengthT;
+      for( uint8_t i = 0; i < name_length; i++){
+      uint32_t length_st_name;
+      memcpy(&length_st_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_name-1]=0;
+      this->st_name = (char *)(inbuffer + offset-1);
+      offset += length_st_name;
+        memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
+      }
+      uint8_t pose_lengthT = *(inbuffer + offset++);
+      if(pose_lengthT > pose_length)
+        this->pose = (geometry_msgs::Pose*)realloc(this->pose, pose_lengthT * sizeof(geometry_msgs::Pose));
+      offset += 3;
+      pose_length = pose_lengthT;
+      for( uint8_t i = 0; i < pose_length; i++){
+      offset += this->st_pose.deserialize(inbuffer + offset);
+        memcpy( &(this->pose[i]), &(this->st_pose), sizeof(geometry_msgs::Pose));
+      }
+      uint8_t twist_lengthT = *(inbuffer + offset++);
+      if(twist_lengthT > twist_length)
+        this->twist = (geometry_msgs::Twist*)realloc(this->twist, twist_lengthT * sizeof(geometry_msgs::Twist));
+      offset += 3;
+      twist_length = twist_lengthT;
+      for( uint8_t i = 0; i < twist_length; i++){
+      offset += this->st_twist.deserialize(inbuffer + offset);
+        memcpy( &(this->twist[i]), &(this->st_twist), sizeof(geometry_msgs::Twist));
+      }
+      uint8_t wrench_lengthT = *(inbuffer + offset++);
+      if(wrench_lengthT > wrench_length)
+        this->wrench = (geometry_msgs::Wrench*)realloc(this->wrench, wrench_lengthT * sizeof(geometry_msgs::Wrench));
+      offset += 3;
+      wrench_length = wrench_lengthT;
+      for( uint8_t i = 0; i < wrench_length; i++){
+      offset += this->st_wrench.deserialize(inbuffer + offset);
+        memcpy( &(this->wrench[i]), &(this->st_wrench), sizeof(geometry_msgs::Wrench));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "gazebo_msgs/WorldState"; };
+    const char * getMD5(){ return "de1a9de3ab7ba97ac0e9ec01a4eb481e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/Accel.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/Accel.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,47 @@
+#ifndef _ROS_geometry_msgs_Accel_h
+#define _ROS_geometry_msgs_Accel_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Vector3.h"
+
+namespace geometry_msgs
+{
+
+  class Accel : public ros::Msg
+  {
+    public:
+      geometry_msgs::Vector3 linear;
+      geometry_msgs::Vector3 angular;
+
+    Accel():
+      linear(),
+      angular()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->linear.serialize(outbuffer + offset);
+      offset += this->angular.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->linear.deserialize(inbuffer + offset);
+      offset += this->angular.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/Accel"; };
+    const char * getMD5(){ return "9f195f881246fdfa2798d1d3eebca84a"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/AccelStamped.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/AccelStamped.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,48 @@
+#ifndef _ROS_geometry_msgs_AccelStamped_h
+#define _ROS_geometry_msgs_AccelStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Accel.h"
+
+namespace geometry_msgs
+{
+
+  class AccelStamped : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      geometry_msgs::Accel accel;
+
+    AccelStamped():
+      header(),
+      accel()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->accel.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->accel.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/AccelStamped"; };
+    const char * getMD5(){ return "d8a98a5d81351b6eb0578c78557e7659"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/AccelWithCovariance.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/AccelWithCovariance.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,78 @@
+#ifndef _ROS_geometry_msgs_AccelWithCovariance_h
+#define _ROS_geometry_msgs_AccelWithCovariance_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Accel.h"
+
+namespace geometry_msgs
+{
+
+  class AccelWithCovariance : public ros::Msg
+  {
+    public:
+      geometry_msgs::Accel accel;
+      double covariance[36];
+
+    AccelWithCovariance():
+      accel(),
+      covariance()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->accel.serialize(outbuffer + offset);
+      for( uint8_t i = 0; i < 36; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_covariancei;
+      u_covariancei.real = this->covariance[i];
+      *(outbuffer + offset + 0) = (u_covariancei.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_covariancei.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_covariancei.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_covariancei.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_covariancei.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_covariancei.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_covariancei.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_covariancei.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->covariance[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->accel.deserialize(inbuffer + offset);
+      for( uint8_t i = 0; i < 36; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_covariancei;
+      u_covariancei.base = 0;
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->covariance[i] = u_covariancei.real;
+      offset += sizeof(this->covariance[i]);
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/AccelWithCovariance"; };
+    const char * getMD5(){ return "ad5a718d699c6be72a02b8d6a139f334"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/AccelWithCovarianceStamped.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/AccelWithCovarianceStamped.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,48 @@
+#ifndef _ROS_geometry_msgs_AccelWithCovarianceStamped_h
+#define _ROS_geometry_msgs_AccelWithCovarianceStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/AccelWithCovariance.h"
+
+namespace geometry_msgs
+{
+
+  class AccelWithCovarianceStamped : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      geometry_msgs::AccelWithCovariance accel;
+
+    AccelWithCovarianceStamped():
+      header(),
+      accel()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->accel.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->accel.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/AccelWithCovarianceStamped"; };
+    const char * getMD5(){ return "96adb295225031ec8d57fb4251b0a886"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/Inertia.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/Inertia.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,260 @@
+#ifndef _ROS_geometry_msgs_Inertia_h
+#define _ROS_geometry_msgs_Inertia_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Vector3.h"
+
+namespace geometry_msgs
+{
+
+  class Inertia : public ros::Msg
+  {
+    public:
+      double m;
+      geometry_msgs::Vector3 com;
+      double ixx;
+      double ixy;
+      double ixz;
+      double iyy;
+      double iyz;
+      double izz;
+
+    Inertia():
+      m(0),
+      com(),
+      ixx(0),
+      ixy(0),
+      ixz(0),
+      iyy(0),
+      iyz(0),
+      izz(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_m;
+      u_m.real = this->m;
+      *(outbuffer + offset + 0) = (u_m.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_m.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_m.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_m.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_m.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_m.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_m.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_m.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->m);
+      offset += this->com.serialize(outbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixx;
+      u_ixx.real = this->ixx;
+      *(outbuffer + offset + 0) = (u_ixx.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_ixx.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_ixx.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_ixx.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_ixx.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_ixx.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_ixx.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_ixx.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->ixx);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixy;
+      u_ixy.real = this->ixy;
+      *(outbuffer + offset + 0) = (u_ixy.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_ixy.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_ixy.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_ixy.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_ixy.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_ixy.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_ixy.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_ixy.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->ixy);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixz;
+      u_ixz.real = this->ixz;
+      *(outbuffer + offset + 0) = (u_ixz.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_ixz.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_ixz.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_ixz.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_ixz.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_ixz.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_ixz.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_ixz.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->ixz);
+      union {
+        double real;
+        uint64_t base;
+      } u_iyy;
+      u_iyy.real = this->iyy;
+      *(outbuffer + offset + 0) = (u_iyy.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_iyy.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_iyy.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_iyy.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_iyy.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_iyy.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_iyy.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_iyy.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->iyy);
+      union {
+        double real;
+        uint64_t base;
+      } u_iyz;
+      u_iyz.real = this->iyz;
+      *(outbuffer + offset + 0) = (u_iyz.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_iyz.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_iyz.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_iyz.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_iyz.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_iyz.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_iyz.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_iyz.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->iyz);
+      union {
+        double real;
+        uint64_t base;
+      } u_izz;
+      u_izz.real = this->izz;
+      *(outbuffer + offset + 0) = (u_izz.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_izz.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_izz.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_izz.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_izz.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_izz.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_izz.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_izz.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->izz);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_m;
+      u_m.base = 0;
+      u_m.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_m.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_m.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_m.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_m.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_m.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_m.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_m.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->m = u_m.real;
+      offset += sizeof(this->m);
+      offset += this->com.deserialize(inbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixx;
+      u_ixx.base = 0;
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_ixx.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->ixx = u_ixx.real;
+      offset += sizeof(this->ixx);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixy;
+      u_ixy.base = 0;
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_ixy.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->ixy = u_ixy.real;
+      offset += sizeof(this->ixy);
+      union {
+        double real;
+        uint64_t base;
+      } u_ixz;
+      u_ixz.base = 0;
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_ixz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->ixz = u_ixz.real;
+      offset += sizeof(this->ixz);
+      union {
+        double real;
+        uint64_t base;
+      } u_iyy;
+      u_iyy.base = 0;
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_iyy.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->iyy = u_iyy.real;
+      offset += sizeof(this->iyy);
+      union {
+        double real;
+        uint64_t base;
+      } u_iyz;
+      u_iyz.base = 0;
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_iyz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->iyz = u_iyz.real;
+      offset += sizeof(this->iyz);
+      union {
+        double real;
+        uint64_t base;
+      } u_izz;
+      u_izz.base = 0;
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_izz.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->izz = u_izz.real;
+      offset += sizeof(this->izz);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/Inertia"; };
+    const char * getMD5(){ return "1d26e4bb6c83ff141c5cf0d883c2b0fe"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/InertiaStamped.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/InertiaStamped.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,48 @@
+#ifndef _ROS_geometry_msgs_InertiaStamped_h
+#define _ROS_geometry_msgs_InertiaStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Inertia.h"
+
+namespace geometry_msgs
+{
+
+  class InertiaStamped : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      geometry_msgs::Inertia inertia;
+
+    InertiaStamped():
+      header(),
+      inertia()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->inertia.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->inertia.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/InertiaStamped"; };
+    const char * getMD5(){ return "ddee48caeab5a966c5e8d166654a9ac7"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/Point.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/Point.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,131 @@
+#ifndef _ROS_geometry_msgs_Point_h
+#define _ROS_geometry_msgs_Point_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace geometry_msgs
+{
+
+  class Point : public ros::Msg
+  {
+    public:
+      double x;
+      double y;
+      double z;
+
+    Point():
+      x(0),
+      y(0),
+      z(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.real = this->x;
+      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_x.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_x.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_x.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_x.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.real = this->y;
+      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_y.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_y.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_y.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_y.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_z;
+      u_z.real = this->z;
+      *(outbuffer + offset + 0) = (u_z.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_z.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_z.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_z.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_z.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_z.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_z.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_z.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->z);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.base = 0;
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->x = u_x.real;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.base = 0;
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->y = u_y.real;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_z;
+      u_z.base = 0;
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->z = u_z.real;
+      offset += sizeof(this->z);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/Point"; };
+    const char * getMD5(){ return "4a842b65f413084dc2b10fb484ea7f17"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/Point32.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/Point32.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,107 @@
+#ifndef _ROS_geometry_msgs_Point32_h
+#define _ROS_geometry_msgs_Point32_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace geometry_msgs
+{
+
+  class Point32 : public ros::Msg
+  {
+    public:
+      float x;
+      float y;
+      float z;
+
+    Point32():
+      x(0),
+      y(0),
+      z(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_x;
+      u_x.real = this->x;
+      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->x);
+      union {
+        float real;
+        uint32_t base;
+      } u_y;
+      u_y.real = this->y;
+      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->y);
+      union {
+        float real;
+        uint32_t base;
+      } u_z;
+      u_z.real = this->z;
+      *(outbuffer + offset + 0) = (u_z.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_z.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_z.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_z.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->z);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_x;
+      u_x.base = 0;
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->x = u_x.real;
+      offset += sizeof(this->x);
+      union {
+        float real;
+        uint32_t base;
+      } u_y;
+      u_y.base = 0;
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->y = u_y.real;
+      offset += sizeof(this->y);
+      union {
+        float real;
+        uint32_t base;
+      } u_z;
+      u_z.base = 0;
+      u_z.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_z.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_z.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_z.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->z = u_z.real;
+      offset += sizeof(this->z);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/Point32"; };
+    const char * getMD5(){ return "cc153912f1453b708d221682bc23d9ac"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/PointStamped.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/PointStamped.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,48 @@
+#ifndef _ROS_geometry_msgs_PointStamped_h
+#define _ROS_geometry_msgs_PointStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Point.h"
+
+namespace geometry_msgs
+{
+
+  class PointStamped : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      geometry_msgs::Point point;
+
+    PointStamped():
+      header(),
+      point()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->point.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->point.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/PointStamped"; };
+    const char * getMD5(){ return "c63aecb41bfdfd6b7e1fac37c7cbe7bf"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/Polygon.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/Polygon.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,59 @@
+#ifndef _ROS_geometry_msgs_Polygon_h
+#define _ROS_geometry_msgs_Polygon_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Point32.h"
+
+namespace geometry_msgs
+{
+
+  class Polygon : public ros::Msg
+  {
+    public:
+      uint8_t points_length;
+      geometry_msgs::Point32 st_points;
+      geometry_msgs::Point32 * points;
+
+    Polygon():
+      points_length(0), points(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = points_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < points_length; i++){
+      offset += this->points[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t points_lengthT = *(inbuffer + offset++);
+      if(points_lengthT > points_length)
+        this->points = (geometry_msgs::Point32*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point32));
+      offset += 3;
+      points_length = points_lengthT;
+      for( uint8_t i = 0; i < points_length; i++){
+      offset += this->st_points.deserialize(inbuffer + offset);
+        memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point32));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/Polygon"; };
+    const char * getMD5(){ return "cd60a26494a087f577976f0329fa120e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/PolygonStamped.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/PolygonStamped.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,48 @@
+#ifndef _ROS_geometry_msgs_PolygonStamped_h
+#define _ROS_geometry_msgs_PolygonStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Polygon.h"
+
+namespace geometry_msgs
+{
+
+  class PolygonStamped : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      geometry_msgs::Polygon polygon;
+
+    PolygonStamped():
+      header(),
+      polygon()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->polygon.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->polygon.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/PolygonStamped"; };
+    const char * getMD5(){ return "c6be8f7dc3bee7fe9e8d296070f53340"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/Pose.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/Pose.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,48 @@
+#ifndef _ROS_geometry_msgs_Pose_h
+#define _ROS_geometry_msgs_Pose_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Point.h"
+#include "geometry_msgs/Quaternion.h"
+
+namespace geometry_msgs
+{
+
+  class Pose : public ros::Msg
+  {
+    public:
+      geometry_msgs::Point position;
+      geometry_msgs::Quaternion orientation;
+
+    Pose():
+      position(),
+      orientation()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->position.serialize(outbuffer + offset);
+      offset += this->orientation.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->position.deserialize(inbuffer + offset);
+      offset += this->orientation.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/Pose"; };
+    const char * getMD5(){ return "e45d45a5a1ce597b249e23fb30fc871f"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/Pose2D.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/Pose2D.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,131 @@
+#ifndef _ROS_geometry_msgs_Pose2D_h
+#define _ROS_geometry_msgs_Pose2D_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace geometry_msgs
+{
+
+  class Pose2D : public ros::Msg
+  {
+    public:
+      double x;
+      double y;
+      double theta;
+
+    Pose2D():
+      x(0),
+      y(0),
+      theta(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.real = this->x;
+      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_x.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_x.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_x.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_x.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.real = this->y;
+      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_y.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_y.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_y.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_y.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_theta;
+      u_theta.real = this->theta;
+      *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_theta.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_theta.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_theta.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_theta.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->theta);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.base = 0;
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->x = u_x.real;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.base = 0;
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->y = u_y.real;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_theta;
+      u_theta.base = 0;
+      u_theta.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_theta.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_theta.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_theta.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_theta.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_theta.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_theta.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_theta.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->theta = u_theta.real;
+      offset += sizeof(this->theta);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/Pose2D"; };
+    const char * getMD5(){ return "938fa65709584ad8e77d238529be13b8"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/PoseArray.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/PoseArray.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,64 @@
+#ifndef _ROS_geometry_msgs_PoseArray_h
+#define _ROS_geometry_msgs_PoseArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Pose.h"
+
+namespace geometry_msgs
+{
+
+  class PoseArray : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t poses_length;
+      geometry_msgs::Pose st_poses;
+      geometry_msgs::Pose * poses;
+
+    PoseArray():
+      header(),
+      poses_length(0), poses(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = poses_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < poses_length; i++){
+      offset += this->poses[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t poses_lengthT = *(inbuffer + offset++);
+      if(poses_lengthT > poses_length)
+        this->poses = (geometry_msgs::Pose*)realloc(this->poses, poses_lengthT * sizeof(geometry_msgs::Pose));
+      offset += 3;
+      poses_length = poses_lengthT;
+      for( uint8_t i = 0; i < poses_length; i++){
+      offset += this->st_poses.deserialize(inbuffer + offset);
+        memcpy( &(this->poses[i]), &(this->st_poses), sizeof(geometry_msgs::Pose));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/PoseArray"; };
+    const char * getMD5(){ return "916c28c5764443f268b296bb671b9d97"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/PoseStamped.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/PoseStamped.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,48 @@
+#ifndef _ROS_geometry_msgs_PoseStamped_h
+#define _ROS_geometry_msgs_PoseStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Pose.h"
+
+namespace geometry_msgs
+{
+
+  class PoseStamped : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      geometry_msgs::Pose pose;
+
+    PoseStamped():
+      header(),
+      pose()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->pose.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->pose.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/PoseStamped"; };
+    const char * getMD5(){ return "d3812c3cbc69362b77dc0b19b345f8f5"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/PoseWithCovariance.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/PoseWithCovariance.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,78 @@
+#ifndef _ROS_geometry_msgs_PoseWithCovariance_h
+#define _ROS_geometry_msgs_PoseWithCovariance_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Pose.h"
+
+namespace geometry_msgs
+{
+
+  class PoseWithCovariance : public ros::Msg
+  {
+    public:
+      geometry_msgs::Pose pose;
+      double covariance[36];
+
+    PoseWithCovariance():
+      pose(),
+      covariance()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->pose.serialize(outbuffer + offset);
+      for( uint8_t i = 0; i < 36; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_covariancei;
+      u_covariancei.real = this->covariance[i];
+      *(outbuffer + offset + 0) = (u_covariancei.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_covariancei.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_covariancei.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_covariancei.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_covariancei.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_covariancei.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_covariancei.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_covariancei.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->covariance[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->pose.deserialize(inbuffer + offset);
+      for( uint8_t i = 0; i < 36; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_covariancei;
+      u_covariancei.base = 0;
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->covariance[i] = u_covariancei.real;
+      offset += sizeof(this->covariance[i]);
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/PoseWithCovariance"; };
+    const char * getMD5(){ return "c23e848cf1b7533a8d7c259073a97e6f"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/PoseWithCovarianceStamped.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/PoseWithCovarianceStamped.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,48 @@
+#ifndef _ROS_geometry_msgs_PoseWithCovarianceStamped_h
+#define _ROS_geometry_msgs_PoseWithCovarianceStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/PoseWithCovariance.h"
+
+namespace geometry_msgs
+{
+
+  class PoseWithCovarianceStamped : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      geometry_msgs::PoseWithCovariance pose;
+
+    PoseWithCovarianceStamped():
+      header(),
+      pose()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->pose.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->pose.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/PoseWithCovarianceStamped"; };
+    const char * getMD5(){ return "953b798c0f514ff060a53a3498ce6246"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/Quaternion.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/Quaternion.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,162 @@
+#ifndef _ROS_geometry_msgs_Quaternion_h
+#define _ROS_geometry_msgs_Quaternion_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace geometry_msgs
+{
+
+  class Quaternion : public ros::Msg
+  {
+    public:
+      double x;
+      double y;
+      double z;
+      double w;
+
+    Quaternion():
+      x(0),
+      y(0),
+      z(0),
+      w(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.real = this->x;
+      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_x.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_x.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_x.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_x.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.real = this->y;
+      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_y.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_y.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_y.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_y.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_z;
+      u_z.real = this->z;
+      *(outbuffer + offset + 0) = (u_z.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_z.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_z.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_z.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_z.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_z.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_z.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_z.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->z);
+      union {
+        double real;
+        uint64_t base;
+      } u_w;
+      u_w.real = this->w;
+      *(outbuffer + offset + 0) = (u_w.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_w.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_w.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_w.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_w.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_w.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_w.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_w.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->w);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.base = 0;
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->x = u_x.real;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.base = 0;
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->y = u_y.real;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_z;
+      u_z.base = 0;
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->z = u_z.real;
+      offset += sizeof(this->z);
+      union {
+        double real;
+        uint64_t base;
+      } u_w;
+      u_w.base = 0;
+      u_w.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_w.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_w.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_w.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_w.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_w.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_w.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_w.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->w = u_w.real;
+      offset += sizeof(this->w);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/Quaternion"; };
+    const char * getMD5(){ return "a779879fadf0160734f906b8c19c7004"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/QuaternionStamped.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/QuaternionStamped.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,48 @@
+#ifndef _ROS_geometry_msgs_QuaternionStamped_h
+#define _ROS_geometry_msgs_QuaternionStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Quaternion.h"
+
+namespace geometry_msgs
+{
+
+  class QuaternionStamped : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      geometry_msgs::Quaternion quaternion;
+
+    QuaternionStamped():
+      header(),
+      quaternion()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->quaternion.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->quaternion.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/QuaternionStamped"; };
+    const char * getMD5(){ return "e57f1e547e0e1fd13504588ffc8334e2"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/Transform.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/Transform.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,48 @@
+#ifndef _ROS_geometry_msgs_Transform_h
+#define _ROS_geometry_msgs_Transform_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Vector3.h"
+#include "geometry_msgs/Quaternion.h"
+
+namespace geometry_msgs
+{
+
+  class Transform : public ros::Msg
+  {
+    public:
+      geometry_msgs::Vector3 translation;
+      geometry_msgs::Quaternion rotation;
+
+    Transform():
+      translation(),
+      rotation()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->translation.serialize(outbuffer + offset);
+      offset += this->rotation.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->translation.deserialize(inbuffer + offset);
+      offset += this->rotation.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/Transform"; };
+    const char * getMD5(){ return "ac9eff44abf714214112b05d54a3cf9b"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/TransformStamped.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/TransformStamped.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,64 @@
+#ifndef _ROS_geometry_msgs_TransformStamped_h
+#define _ROS_geometry_msgs_TransformStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Transform.h"
+
+namespace geometry_msgs
+{
+
+  class TransformStamped : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      const char* child_frame_id;
+      geometry_msgs::Transform transform;
+
+    TransformStamped():
+      header(),
+      child_frame_id(""),
+      transform()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      uint32_t length_child_frame_id = strlen(this->child_frame_id);
+      memcpy(outbuffer + offset, &length_child_frame_id, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->child_frame_id, length_child_frame_id);
+      offset += length_child_frame_id;
+      offset += this->transform.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t length_child_frame_id;
+      memcpy(&length_child_frame_id, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_child_frame_id-1]=0;
+      this->child_frame_id = (char *)(inbuffer + offset-1);
+      offset += length_child_frame_id;
+      offset += this->transform.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/TransformStamped"; };
+    const char * getMD5(){ return "b5764a33bfeb3588febc2682852579b0"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/Twist.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/Twist.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,47 @@
+#ifndef _ROS_geometry_msgs_Twist_h
+#define _ROS_geometry_msgs_Twist_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Vector3.h"
+
+namespace geometry_msgs
+{
+
+  class Twist : public ros::Msg
+  {
+    public:
+      geometry_msgs::Vector3 linear;
+      geometry_msgs::Vector3 angular;
+
+    Twist():
+      linear(),
+      angular()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->linear.serialize(outbuffer + offset);
+      offset += this->angular.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->linear.deserialize(inbuffer + offset);
+      offset += this->angular.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/Twist"; };
+    const char * getMD5(){ return "9f195f881246fdfa2798d1d3eebca84a"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/TwistStamped.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/TwistStamped.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,48 @@
+#ifndef _ROS_geometry_msgs_TwistStamped_h
+#define _ROS_geometry_msgs_TwistStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Twist.h"
+
+namespace geometry_msgs
+{
+
+  class TwistStamped : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      geometry_msgs::Twist twist;
+
+    TwistStamped():
+      header(),
+      twist()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->twist.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->twist.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/TwistStamped"; };
+    const char * getMD5(){ return "98d34b0043a2093cf9d9345ab6eef12e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/TwistWithCovariance.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/TwistWithCovariance.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,78 @@
+#ifndef _ROS_geometry_msgs_TwistWithCovariance_h
+#define _ROS_geometry_msgs_TwistWithCovariance_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Twist.h"
+
+namespace geometry_msgs
+{
+
+  class TwistWithCovariance : public ros::Msg
+  {
+    public:
+      geometry_msgs::Twist twist;
+      double covariance[36];
+
+    TwistWithCovariance():
+      twist(),
+      covariance()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->twist.serialize(outbuffer + offset);
+      for( uint8_t i = 0; i < 36; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_covariancei;
+      u_covariancei.real = this->covariance[i];
+      *(outbuffer + offset + 0) = (u_covariancei.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_covariancei.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_covariancei.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_covariancei.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_covariancei.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_covariancei.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_covariancei.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_covariancei.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->covariance[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->twist.deserialize(inbuffer + offset);
+      for( uint8_t i = 0; i < 36; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_covariancei;
+      u_covariancei.base = 0;
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->covariance[i] = u_covariancei.real;
+      offset += sizeof(this->covariance[i]);
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/TwistWithCovariance"; };
+    const char * getMD5(){ return "1fe8a28e6890a4cc3ae4c3ca5c7d82e6"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/TwistWithCovarianceStamped.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/TwistWithCovarianceStamped.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,48 @@
+#ifndef _ROS_geometry_msgs_TwistWithCovarianceStamped_h
+#define _ROS_geometry_msgs_TwistWithCovarianceStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/TwistWithCovariance.h"
+
+namespace geometry_msgs
+{
+
+  class TwistWithCovarianceStamped : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      geometry_msgs::TwistWithCovariance twist;
+
+    TwistWithCovarianceStamped():
+      header(),
+      twist()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->twist.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->twist.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/TwistWithCovarianceStamped"; };
+    const char * getMD5(){ return "8927a1a12fb2607ceea095b2dc440a96"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/Vector3.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/Vector3.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,131 @@
+#ifndef _ROS_geometry_msgs_Vector3_h
+#define _ROS_geometry_msgs_Vector3_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace geometry_msgs
+{
+
+  class Vector3 : public ros::Msg
+  {
+    public:
+      double x;
+      double y;
+      double z;
+
+    Vector3():
+      x(0),
+      y(0),
+      z(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.real = this->x;
+      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_x.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_x.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_x.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_x.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.real = this->y;
+      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_y.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_y.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_y.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_y.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_z;
+      u_z.real = this->z;
+      *(outbuffer + offset + 0) = (u_z.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_z.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_z.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_z.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_z.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_z.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_z.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_z.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->z);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.base = 0;
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->x = u_x.real;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.base = 0;
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->y = u_y.real;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_z;
+      u_z.base = 0;
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->z = u_z.real;
+      offset += sizeof(this->z);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/Vector3"; };
+    const char * getMD5(){ return "4a842b65f413084dc2b10fb484ea7f17"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/Vector3Stamped.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/Vector3Stamped.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,48 @@
+#ifndef _ROS_geometry_msgs_Vector3Stamped_h
+#define _ROS_geometry_msgs_Vector3Stamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Vector3.h"
+
+namespace geometry_msgs
+{
+
+  class Vector3Stamped : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      geometry_msgs::Vector3 vector;
+
+    Vector3Stamped():
+      header(),
+      vector()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->vector.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->vector.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/Vector3Stamped"; };
+    const char * getMD5(){ return "7b324c7325e683bf02a9b14b01090ec7"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/Wrench.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/Wrench.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,47 @@
+#ifndef _ROS_geometry_msgs_Wrench_h
+#define _ROS_geometry_msgs_Wrench_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Vector3.h"
+
+namespace geometry_msgs
+{
+
+  class Wrench : public ros::Msg
+  {
+    public:
+      geometry_msgs::Vector3 force;
+      geometry_msgs::Vector3 torque;
+
+    Wrench():
+      force(),
+      torque()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->force.serialize(outbuffer + offset);
+      offset += this->torque.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->force.deserialize(inbuffer + offset);
+      offset += this->torque.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/Wrench"; };
+    const char * getMD5(){ return "4f539cf138b23283b520fd271b567936"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 geometry_msgs/WrenchStamped.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/geometry_msgs/WrenchStamped.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,48 @@
+#ifndef _ROS_geometry_msgs_WrenchStamped_h
+#define _ROS_geometry_msgs_WrenchStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Wrench.h"
+
+namespace geometry_msgs
+{
+
+  class WrenchStamped : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      geometry_msgs::Wrench wrench;
+
+    WrenchStamped():
+      header(),
+      wrench()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->wrench.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->wrench.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "geometry_msgs/WrenchStamped"; };
+    const char * getMD5(){ return "d78d3cb249ce23087ade7e7d0c40cfa7"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 laser_assembler/AssembleScans.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/laser_assembler/AssembleScans.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,120 @@
+#ifndef _ROS_SERVICE_AssembleScans_h
+#define _ROS_SERVICE_AssembleScans_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/time.h"
+#include "sensor_msgs/PointCloud.h"
+
+namespace laser_assembler
+{
+
+static const char ASSEMBLESCANS[] = "laser_assembler/AssembleScans";
+
+  class AssembleScansRequest : public ros::Msg
+  {
+    public:
+      ros::Time begin;
+      ros::Time end;
+
+    AssembleScansRequest():
+      begin(),
+      end()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->begin.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->begin.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->begin.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->begin.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->begin.sec);
+      *(outbuffer + offset + 0) = (this->begin.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->begin.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->begin.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->begin.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->begin.nsec);
+      *(outbuffer + offset + 0) = (this->end.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->end.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->end.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->end.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->end.sec);
+      *(outbuffer + offset + 0) = (this->end.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->end.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->end.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->end.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->end.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->begin.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->begin.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->begin.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->begin.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->begin.sec);
+      this->begin.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->begin.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->begin.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->begin.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->begin.nsec);
+      this->end.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->end.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->end.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->end.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->end.sec);
+      this->end.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->end.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->end.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->end.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->end.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return ASSEMBLESCANS; };
+    const char * getMD5(){ return "b341004f74e15bf5e1b2053a9183bdc7"; };
+
+  };
+
+  class AssembleScansResponse : public ros::Msg
+  {
+    public:
+      sensor_msgs::PointCloud cloud;
+
+    AssembleScansResponse():
+      cloud()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->cloud.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->cloud.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return ASSEMBLESCANS; };
+    const char * getMD5(){ return "4217b28a903e4ad7869a83b3653110ff"; };
+
+  };
+
+  class AssembleScans {
+    public:
+    typedef AssembleScansRequest Request;
+    typedef AssembleScansResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 laser_assembler/AssembleScans2.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/laser_assembler/AssembleScans2.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,120 @@
+#ifndef _ROS_SERVICE_AssembleScans2_h
+#define _ROS_SERVICE_AssembleScans2_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "sensor_msgs/PointCloud2.h"
+#include "ros/time.h"
+
+namespace laser_assembler
+{
+
+static const char ASSEMBLESCANS2[] = "laser_assembler/AssembleScans2";
+
+  class AssembleScans2Request : public ros::Msg
+  {
+    public:
+      ros::Time begin;
+      ros::Time end;
+
+    AssembleScans2Request():
+      begin(),
+      end()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->begin.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->begin.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->begin.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->begin.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->begin.sec);
+      *(outbuffer + offset + 0) = (this->begin.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->begin.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->begin.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->begin.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->begin.nsec);
+      *(outbuffer + offset + 0) = (this->end.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->end.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->end.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->end.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->end.sec);
+      *(outbuffer + offset + 0) = (this->end.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->end.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->end.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->end.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->end.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->begin.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->begin.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->begin.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->begin.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->begin.sec);
+      this->begin.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->begin.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->begin.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->begin.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->begin.nsec);
+      this->end.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->end.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->end.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->end.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->end.sec);
+      this->end.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->end.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->end.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->end.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->end.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return ASSEMBLESCANS2; };
+    const char * getMD5(){ return "b341004f74e15bf5e1b2053a9183bdc7"; };
+
+  };
+
+  class AssembleScans2Response : public ros::Msg
+  {
+    public:
+      sensor_msgs::PointCloud2 cloud;
+
+    AssembleScans2Response():
+      cloud()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->cloud.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->cloud.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return ASSEMBLESCANS2; };
+    const char * getMD5(){ return "96cec5374164b3b3d1d7ef5d7628a7ed"; };
+
+  };
+
+  class AssembleScans2 {
+    public:
+    typedef AssembleScans2Request Request;
+    typedef AssembleScans2Response Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 map_msgs/GetMapROI.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/map_msgs/GetMapROI.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,199 @@
+#ifndef _ROS_SERVICE_GetMapROI_h
+#define _ROS_SERVICE_GetMapROI_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "nav_msgs/OccupancyGrid.h"
+
+namespace map_msgs
+{
+
+static const char GETMAPROI[] = "map_msgs/GetMapROI";
+
+  class GetMapROIRequest : public ros::Msg
+  {
+    public:
+      double x;
+      double y;
+      double l_x;
+      double l_y;
+
+    GetMapROIRequest():
+      x(0),
+      y(0),
+      l_x(0),
+      l_y(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.real = this->x;
+      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_x.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_x.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_x.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_x.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.real = this->y;
+      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_y.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_y.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_y.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_y.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_l_x;
+      u_l_x.real = this->l_x;
+      *(outbuffer + offset + 0) = (u_l_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_l_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_l_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_l_x.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_l_x.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_l_x.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_l_x.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_l_x.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->l_x);
+      union {
+        double real;
+        uint64_t base;
+      } u_l_y;
+      u_l_y.real = this->l_y;
+      *(outbuffer + offset + 0) = (u_l_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_l_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_l_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_l_y.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_l_y.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_l_y.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_l_y.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_l_y.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->l_y);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.base = 0;
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->x = u_x.real;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.base = 0;
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->y = u_y.real;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_l_x;
+      u_l_x.base = 0;
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->l_x = u_l_x.real;
+      offset += sizeof(this->l_x);
+      union {
+        double real;
+        uint64_t base;
+      } u_l_y;
+      u_l_y.base = 0;
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->l_y = u_l_y.real;
+      offset += sizeof(this->l_y);
+     return offset;
+    }
+
+    const char * getType(){ return GETMAPROI; };
+    const char * getMD5(){ return "43c2ff8f45af555c0eaf070c401e9a47"; };
+
+  };
+
+  class GetMapROIResponse : public ros::Msg
+  {
+    public:
+      nav_msgs::OccupancyGrid sub_map;
+
+    GetMapROIResponse():
+      sub_map()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->sub_map.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->sub_map.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return GETMAPROI; };
+    const char * getMD5(){ return "4d1986519c00d81967d2891a606b234c"; };
+
+  };
+
+  class GetMapROI {
+    public:
+    typedef GetMapROIRequest Request;
+    typedef GetMapROIResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 map_msgs/GetPointMap.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/map_msgs/GetPointMap.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,75 @@
+#ifndef _ROS_SERVICE_GetPointMap_h
+#define _ROS_SERVICE_GetPointMap_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "sensor_msgs/PointCloud2.h"
+
+namespace map_msgs
+{
+
+static const char GETPOINTMAP[] = "map_msgs/GetPointMap";
+
+  class GetPointMapRequest : public ros::Msg
+  {
+    public:
+
+    GetPointMapRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return GETPOINTMAP; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class GetPointMapResponse : public ros::Msg
+  {
+    public:
+      sensor_msgs::PointCloud2 map;
+
+    GetPointMapResponse():
+      map()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->map.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->map.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return GETPOINTMAP; };
+    const char * getMD5(){ return "b84fbb39505086eb6a62d933c75cb7b4"; };
+
+  };
+
+  class GetPointMap {
+    public:
+    typedef GetPointMapRequest Request;
+    typedef GetPointMapResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 map_msgs/GetPointMapROI.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/map_msgs/GetPointMapROI.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,292 @@
+#ifndef _ROS_SERVICE_GetPointMapROI_h
+#define _ROS_SERVICE_GetPointMapROI_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "sensor_msgs/PointCloud2.h"
+
+namespace map_msgs
+{
+
+static const char GETPOINTMAPROI[] = "map_msgs/GetPointMapROI";
+
+  class GetPointMapROIRequest : public ros::Msg
+  {
+    public:
+      double x;
+      double y;
+      double z;
+      double r;
+      double l_x;
+      double l_y;
+      double l_z;
+
+    GetPointMapROIRequest():
+      x(0),
+      y(0),
+      z(0),
+      r(0),
+      l_x(0),
+      l_y(0),
+      l_z(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.real = this->x;
+      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_x.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_x.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_x.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_x.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.real = this->y;
+      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_y.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_y.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_y.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_y.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_z;
+      u_z.real = this->z;
+      *(outbuffer + offset + 0) = (u_z.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_z.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_z.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_z.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_z.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_z.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_z.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_z.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->z);
+      union {
+        double real;
+        uint64_t base;
+      } u_r;
+      u_r.real = this->r;
+      *(outbuffer + offset + 0) = (u_r.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_r.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_r.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_r.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_r.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_r.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_r.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_r.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->r);
+      union {
+        double real;
+        uint64_t base;
+      } u_l_x;
+      u_l_x.real = this->l_x;
+      *(outbuffer + offset + 0) = (u_l_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_l_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_l_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_l_x.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_l_x.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_l_x.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_l_x.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_l_x.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->l_x);
+      union {
+        double real;
+        uint64_t base;
+      } u_l_y;
+      u_l_y.real = this->l_y;
+      *(outbuffer + offset + 0) = (u_l_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_l_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_l_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_l_y.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_l_y.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_l_y.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_l_y.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_l_y.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->l_y);
+      union {
+        double real;
+        uint64_t base;
+      } u_l_z;
+      u_l_z.real = this->l_z;
+      *(outbuffer + offset + 0) = (u_l_z.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_l_z.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_l_z.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_l_z.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_l_z.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_l_z.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_l_z.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_l_z.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->l_z);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.base = 0;
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->x = u_x.real;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.base = 0;
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->y = u_y.real;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_z;
+      u_z.base = 0;
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->z = u_z.real;
+      offset += sizeof(this->z);
+      union {
+        double real;
+        uint64_t base;
+      } u_r;
+      u_r.base = 0;
+      u_r.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_r.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_r.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_r.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_r.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_r.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_r.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_r.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->r = u_r.real;
+      offset += sizeof(this->r);
+      union {
+        double real;
+        uint64_t base;
+      } u_l_x;
+      u_l_x.base = 0;
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_l_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->l_x = u_l_x.real;
+      offset += sizeof(this->l_x);
+      union {
+        double real;
+        uint64_t base;
+      } u_l_y;
+      u_l_y.base = 0;
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_l_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->l_y = u_l_y.real;
+      offset += sizeof(this->l_y);
+      union {
+        double real;
+        uint64_t base;
+      } u_l_z;
+      u_l_z.base = 0;
+      u_l_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_l_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_l_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_l_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_l_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_l_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_l_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_l_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->l_z = u_l_z.real;
+      offset += sizeof(this->l_z);
+     return offset;
+    }
+
+    const char * getType(){ return GETPOINTMAPROI; };
+    const char * getMD5(){ return "895f7e437a9a6dd225316872b187a303"; };
+
+  };
+
+  class GetPointMapROIResponse : public ros::Msg
+  {
+    public:
+      sensor_msgs::PointCloud2 sub_map;
+
+    GetPointMapROIResponse():
+      sub_map()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->sub_map.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->sub_map.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return GETPOINTMAPROI; };
+    const char * getMD5(){ return "313769f8b0e724525c6463336cbccd63"; };
+
+  };
+
+  class GetPointMapROI {
+    public:
+    typedef GetPointMapROIRequest Request;
+    typedef GetPointMapROIResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 map_msgs/OccupancyGridUpdate.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/map_msgs/OccupancyGridUpdate.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,146 @@
+#ifndef _ROS_map_msgs_OccupancyGridUpdate_h
+#define _ROS_map_msgs_OccupancyGridUpdate_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace map_msgs
+{
+
+  class OccupancyGridUpdate : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      int32_t x;
+      int32_t y;
+      uint32_t width;
+      uint32_t height;
+      uint8_t data_length;
+      int8_t st_data;
+      int8_t * data;
+
+    OccupancyGridUpdate():
+      header(),
+      x(0),
+      y(0),
+      width(0),
+      height(0),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_x;
+      u_x.real = this->x;
+      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->x);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_y;
+      u_y.real = this->y;
+      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->y);
+      *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->width);
+      *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->height);
+      *(outbuffer + offset++) = data_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < data_length; i++){
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_datai;
+      u_datai.real = this->data[i];
+      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_x;
+      u_x.base = 0;
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->x = u_x.real;
+      offset += sizeof(this->x);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_y;
+      u_y.base = 0;
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->y = u_y.real;
+      offset += sizeof(this->y);
+      this->width =  ((uint32_t) (*(inbuffer + offset)));
+      this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->width);
+      this->height =  ((uint32_t) (*(inbuffer + offset)));
+      this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->height);
+      uint8_t data_lengthT = *(inbuffer + offset++);
+      if(data_lengthT > data_length)
+        this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
+      offset += 3;
+      data_length = data_lengthT;
+      for( uint8_t i = 0; i < data_length; i++){
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_st_data;
+      u_st_data.base = 0;
+      u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->st_data = u_st_data.real;
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "map_msgs/OccupancyGridUpdate"; };
+    const char * getMD5(){ return "b295be292b335c34718bd939deebe1c9"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 map_msgs/PointCloud2Update.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/map_msgs/PointCloud2Update.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,62 @@
+#ifndef _ROS_map_msgs_PointCloud2Update_h
+#define _ROS_map_msgs_PointCloud2Update_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "sensor_msgs/PointCloud2.h"
+
+namespace map_msgs
+{
+
+  class PointCloud2Update : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint32_t type;
+      sensor_msgs::PointCloud2 points;
+      enum { ADD = 0 };
+      enum { DELETE = 1 };
+
+    PointCloud2Update():
+      header(),
+      type(0),
+      points()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->type >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->type >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->type >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->type);
+      offset += this->points.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      this->type =  ((uint32_t) (*(inbuffer + offset)));
+      this->type |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->type |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->type |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->type);
+      offset += this->points.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "map_msgs/PointCloud2Update"; };
+    const char * getMD5(){ return "6c58e4f249ae9cd2b24fb1ee0f99195e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 map_msgs/ProjectedMap.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/map_msgs/ProjectedMap.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,105 @@
+#ifndef _ROS_map_msgs_ProjectedMap_h
+#define _ROS_map_msgs_ProjectedMap_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "nav_msgs/OccupancyGrid.h"
+
+namespace map_msgs
+{
+
+  class ProjectedMap : public ros::Msg
+  {
+    public:
+      nav_msgs::OccupancyGrid map;
+      double min_z;
+      double max_z;
+
+    ProjectedMap():
+      map(),
+      min_z(0),
+      max_z(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->map.serialize(outbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_min_z;
+      u_min_z.real = this->min_z;
+      *(outbuffer + offset + 0) = (u_min_z.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_min_z.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_min_z.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_min_z.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_min_z.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_min_z.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_min_z.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_min_z.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->min_z);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_z;
+      u_max_z.real = this->max_z;
+      *(outbuffer + offset + 0) = (u_max_z.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_max_z.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_max_z.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_max_z.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_max_z.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_max_z.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_max_z.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_max_z.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->max_z);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->map.deserialize(inbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_min_z;
+      u_min_z.base = 0;
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->min_z = u_min_z.real;
+      offset += sizeof(this->min_z);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_z;
+      u_max_z.base = 0;
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->max_z = u_max_z.real;
+      offset += sizeof(this->max_z);
+     return offset;
+    }
+
+    const char * getType(){ return "map_msgs/ProjectedMap"; };
+    const char * getMD5(){ return "7bbe8f96e45089681dc1ea7d023cbfca"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 map_msgs/ProjectedMapInfo.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/map_msgs/ProjectedMapInfo.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,240 @@
+#ifndef _ROS_map_msgs_ProjectedMapInfo_h
+#define _ROS_map_msgs_ProjectedMapInfo_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace map_msgs
+{
+
+  class ProjectedMapInfo : public ros::Msg
+  {
+    public:
+      const char* frame_id;
+      double x;
+      double y;
+      double width;
+      double height;
+      double min_z;
+      double max_z;
+
+    ProjectedMapInfo():
+      frame_id(""),
+      x(0),
+      y(0),
+      width(0),
+      height(0),
+      min_z(0),
+      max_z(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_frame_id = strlen(this->frame_id);
+      memcpy(outbuffer + offset, &length_frame_id, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->frame_id, length_frame_id);
+      offset += length_frame_id;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.real = this->x;
+      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_x.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_x.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_x.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_x.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.real = this->y;
+      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_y.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_y.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_y.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_y.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_width;
+      u_width.real = this->width;
+      *(outbuffer + offset + 0) = (u_width.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_width.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_width.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_width.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_width.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_width.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_width.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_width.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->width);
+      union {
+        double real;
+        uint64_t base;
+      } u_height;
+      u_height.real = this->height;
+      *(outbuffer + offset + 0) = (u_height.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_height.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_height.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_height.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_height.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_height.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_height.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_height.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->height);
+      union {
+        double real;
+        uint64_t base;
+      } u_min_z;
+      u_min_z.real = this->min_z;
+      *(outbuffer + offset + 0) = (u_min_z.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_min_z.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_min_z.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_min_z.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_min_z.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_min_z.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_min_z.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_min_z.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->min_z);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_z;
+      u_max_z.real = this->max_z;
+      *(outbuffer + offset + 0) = (u_max_z.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_max_z.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_max_z.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_max_z.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_max_z.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_max_z.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_max_z.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_max_z.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->max_z);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_frame_id;
+      memcpy(&length_frame_id, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_frame_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_frame_id-1]=0;
+      this->frame_id = (char *)(inbuffer + offset-1);
+      offset += length_frame_id;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.base = 0;
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->x = u_x.real;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.base = 0;
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->y = u_y.real;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_width;
+      u_width.base = 0;
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->width = u_width.real;
+      offset += sizeof(this->width);
+      union {
+        double real;
+        uint64_t base;
+      } u_height;
+      u_height.base = 0;
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->height = u_height.real;
+      offset += sizeof(this->height);
+      union {
+        double real;
+        uint64_t base;
+      } u_min_z;
+      u_min_z.base = 0;
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_min_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->min_z = u_min_z.real;
+      offset += sizeof(this->min_z);
+      union {
+        double real;
+        uint64_t base;
+      } u_max_z;
+      u_max_z.base = 0;
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_max_z.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->max_z = u_max_z.real;
+      offset += sizeof(this->max_z);
+     return offset;
+    }
+
+    const char * getType(){ return "map_msgs/ProjectedMapInfo"; };
+    const char * getMD5(){ return "2dc10595ae94de23f22f8a6d2a0eef7a"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 map_msgs/ProjectedMapsInfo.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/map_msgs/ProjectedMapsInfo.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,91 @@
+#ifndef _ROS_SERVICE_ProjectedMapsInfo_h
+#define _ROS_SERVICE_ProjectedMapsInfo_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "map_msgs/ProjectedMapInfo.h"
+
+namespace map_msgs
+{
+
+static const char PROJECTEDMAPSINFO[] = "map_msgs/ProjectedMapsInfo";
+
+  class ProjectedMapsInfoRequest : public ros::Msg
+  {
+    public:
+      uint8_t projected_maps_info_length;
+      map_msgs::ProjectedMapInfo st_projected_maps_info;
+      map_msgs::ProjectedMapInfo * projected_maps_info;
+
+    ProjectedMapsInfoRequest():
+      projected_maps_info_length(0), projected_maps_info(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = projected_maps_info_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < projected_maps_info_length; i++){
+      offset += this->projected_maps_info[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t projected_maps_info_lengthT = *(inbuffer + offset++);
+      if(projected_maps_info_lengthT > projected_maps_info_length)
+        this->projected_maps_info = (map_msgs::ProjectedMapInfo*)realloc(this->projected_maps_info, projected_maps_info_lengthT * sizeof(map_msgs::ProjectedMapInfo));
+      offset += 3;
+      projected_maps_info_length = projected_maps_info_lengthT;
+      for( uint8_t i = 0; i < projected_maps_info_length; i++){
+      offset += this->st_projected_maps_info.deserialize(inbuffer + offset);
+        memcpy( &(this->projected_maps_info[i]), &(this->st_projected_maps_info), sizeof(map_msgs::ProjectedMapInfo));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return PROJECTEDMAPSINFO; };
+    const char * getMD5(){ return "d7980a33202421c8cd74565e57a4d229"; };
+
+  };
+
+  class ProjectedMapsInfoResponse : public ros::Msg
+  {
+    public:
+
+    ProjectedMapsInfoResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return PROJECTEDMAPSINFO; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class ProjectedMapsInfo {
+    public:
+    typedef ProjectedMapsInfoRequest Request;
+    typedef ProjectedMapsInfoResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 map_msgs/SaveMap.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/map_msgs/SaveMap.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,75 @@
+#ifndef _ROS_SERVICE_SaveMap_h
+#define _ROS_SERVICE_SaveMap_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/String.h"
+
+namespace map_msgs
+{
+
+static const char SAVEMAP[] = "map_msgs/SaveMap";
+
+  class SaveMapRequest : public ros::Msg
+  {
+    public:
+      std_msgs::String filename;
+
+    SaveMapRequest():
+      filename()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->filename.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->filename.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return SAVEMAP; };
+    const char * getMD5(){ return "716e25f9d9dc76ceba197f93cbf05dc7"; };
+
+  };
+
+  class SaveMapResponse : public ros::Msg
+  {
+    public:
+
+    SaveMapResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return SAVEMAP; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class SaveMap {
+    public:
+    typedef SaveMapRequest Request;
+    typedef SaveMapResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 map_msgs/SetMapProjections.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/map_msgs/SetMapProjections.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,91 @@
+#ifndef _ROS_SERVICE_SetMapProjections_h
+#define _ROS_SERVICE_SetMapProjections_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "map_msgs/ProjectedMapInfo.h"
+
+namespace map_msgs
+{
+
+static const char SETMAPPROJECTIONS[] = "map_msgs/SetMapProjections";
+
+  class SetMapProjectionsRequest : public ros::Msg
+  {
+    public:
+
+    SetMapProjectionsRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return SETMAPPROJECTIONS; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class SetMapProjectionsResponse : public ros::Msg
+  {
+    public:
+      uint8_t projected_maps_info_length;
+      map_msgs::ProjectedMapInfo st_projected_maps_info;
+      map_msgs::ProjectedMapInfo * projected_maps_info;
+
+    SetMapProjectionsResponse():
+      projected_maps_info_length(0), projected_maps_info(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = projected_maps_info_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < projected_maps_info_length; i++){
+      offset += this->projected_maps_info[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t projected_maps_info_lengthT = *(inbuffer + offset++);
+      if(projected_maps_info_lengthT > projected_maps_info_length)
+        this->projected_maps_info = (map_msgs::ProjectedMapInfo*)realloc(this->projected_maps_info, projected_maps_info_lengthT * sizeof(map_msgs::ProjectedMapInfo));
+      offset += 3;
+      projected_maps_info_length = projected_maps_info_lengthT;
+      for( uint8_t i = 0; i < projected_maps_info_length; i++){
+      offset += this->st_projected_maps_info.deserialize(inbuffer + offset);
+        memcpy( &(this->projected_maps_info[i]), &(this->st_projected_maps_info), sizeof(map_msgs::ProjectedMapInfo));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return SETMAPPROJECTIONS; };
+    const char * getMD5(){ return "d7980a33202421c8cd74565e57a4d229"; };
+
+  };
+
+  class SetMapProjections {
+    public:
+    typedef SetMapProjectionsRequest Request;
+    typedef SetMapProjectionsResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 nav_msgs/GetMap.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/nav_msgs/GetMap.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,75 @@
+#ifndef _ROS_SERVICE_GetMap_h
+#define _ROS_SERVICE_GetMap_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "nav_msgs/OccupancyGrid.h"
+
+namespace nav_msgs
+{
+
+static const char GETMAP[] = "nav_msgs/GetMap";
+
+  class GetMapRequest : public ros::Msg
+  {
+    public:
+
+    GetMapRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return GETMAP; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class GetMapResponse : public ros::Msg
+  {
+    public:
+      nav_msgs::OccupancyGrid map;
+
+    GetMapResponse():
+      map()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->map.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->map.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return GETMAP; };
+    const char * getMD5(){ return "6cdd0a18e0aff5b0a3ca2326a89b54ff"; };
+
+  };
+
+  class GetMap {
+    public:
+    typedef GetMapRequest Request;
+    typedef GetMapResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 nav_msgs/GetMapAction.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/nav_msgs/GetMapAction.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_nav_msgs_GetMapAction_h
+#define _ROS_nav_msgs_GetMapAction_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "nav_msgs/GetMapActionGoal.h"
+#include "nav_msgs/GetMapActionResult.h"
+#include "nav_msgs/GetMapActionFeedback.h"
+
+namespace nav_msgs
+{
+
+  class GetMapAction : public ros::Msg
+  {
+    public:
+      nav_msgs::GetMapActionGoal action_goal;
+      nav_msgs::GetMapActionResult action_result;
+      nav_msgs::GetMapActionFeedback action_feedback;
+
+    GetMapAction():
+      action_goal(),
+      action_result(),
+      action_feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->action_goal.serialize(outbuffer + offset);
+      offset += this->action_result.serialize(outbuffer + offset);
+      offset += this->action_feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->action_goal.deserialize(inbuffer + offset);
+      offset += this->action_result.deserialize(inbuffer + offset);
+      offset += this->action_feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "nav_msgs/GetMapAction"; };
+    const char * getMD5(){ return "e611ad23fbf237c031b7536416dc7cd7"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 nav_msgs/GetMapActionFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/nav_msgs/GetMapActionFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_nav_msgs_GetMapActionFeedback_h
+#define _ROS_nav_msgs_GetMapActionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "nav_msgs/GetMapFeedback.h"
+
+namespace nav_msgs
+{
+
+  class GetMapActionFeedback : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalStatus status;
+      nav_msgs::GetMapFeedback feedback;
+
+    GetMapActionFeedback():
+      header(),
+      status(),
+      feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "nav_msgs/GetMapActionFeedback"; };
+    const char * getMD5(){ return "aae20e09065c3809e8a8e87c4c8953fd"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 nav_msgs/GetMapActionGoal.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/nav_msgs/GetMapActionGoal.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_nav_msgs_GetMapActionGoal_h
+#define _ROS_nav_msgs_GetMapActionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalID.h"
+#include "nav_msgs/GetMapGoal.h"
+
+namespace nav_msgs
+{
+
+  class GetMapActionGoal : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalID goal_id;
+      nav_msgs::GetMapGoal goal;
+
+    GetMapActionGoal():
+      header(),
+      goal_id(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->goal_id.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "nav_msgs/GetMapActionGoal"; };
+    const char * getMD5(){ return "4b30be6cd12b9e72826df56b481f40e0"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 nav_msgs/GetMapActionResult.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/nav_msgs/GetMapActionResult.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_nav_msgs_GetMapActionResult_h
+#define _ROS_nav_msgs_GetMapActionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "nav_msgs/GetMapResult.h"
+
+namespace nav_msgs
+{
+
+  class GetMapActionResult : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalStatus status;
+      nav_msgs::GetMapResult result;
+
+    GetMapActionResult():
+      header(),
+      status(),
+      result()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->result.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->result.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "nav_msgs/GetMapActionResult"; };
+    const char * getMD5(){ return "ac66e5b9a79bb4bbd33dab245236c892"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 nav_msgs/GetMapFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/nav_msgs/GetMapFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,38 @@
+#ifndef _ROS_nav_msgs_GetMapFeedback_h
+#define _ROS_nav_msgs_GetMapFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace nav_msgs
+{
+
+  class GetMapFeedback : public ros::Msg
+  {
+    public:
+
+    GetMapFeedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "nav_msgs/GetMapFeedback"; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 nav_msgs/GetMapGoal.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/nav_msgs/GetMapGoal.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,38 @@
+#ifndef _ROS_nav_msgs_GetMapGoal_h
+#define _ROS_nav_msgs_GetMapGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace nav_msgs
+{
+
+  class GetMapGoal : public ros::Msg
+  {
+    public:
+
+    GetMapGoal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "nav_msgs/GetMapGoal"; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 nav_msgs/GetMapResult.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/nav_msgs/GetMapResult.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,43 @@
+#ifndef _ROS_nav_msgs_GetMapResult_h
+#define _ROS_nav_msgs_GetMapResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "nav_msgs/OccupancyGrid.h"
+
+namespace nav_msgs
+{
+
+  class GetMapResult : public ros::Msg
+  {
+    public:
+      nav_msgs::OccupancyGrid map;
+
+    GetMapResult():
+      map()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->map.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->map.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "nav_msgs/GetMapResult"; };
+    const char * getMD5(){ return "6cdd0a18e0aff5b0a3ca2326a89b54ff"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 nav_msgs/GetPlan.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/nav_msgs/GetPlan.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,107 @@
+#ifndef _ROS_SERVICE_GetPlan_h
+#define _ROS_SERVICE_GetPlan_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/PoseStamped.h"
+#include "nav_msgs/Path.h"
+
+namespace nav_msgs
+{
+
+static const char GETPLAN[] = "nav_msgs/GetPlan";
+
+  class GetPlanRequest : public ros::Msg
+  {
+    public:
+      geometry_msgs::PoseStamped start;
+      geometry_msgs::PoseStamped goal;
+      float tolerance;
+
+    GetPlanRequest():
+      start(),
+      goal(),
+      tolerance(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->start.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_tolerance;
+      u_tolerance.real = this->tolerance;
+      *(outbuffer + offset + 0) = (u_tolerance.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_tolerance.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_tolerance.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_tolerance.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->tolerance);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->start.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_tolerance;
+      u_tolerance.base = 0;
+      u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_tolerance.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->tolerance = u_tolerance.real;
+      offset += sizeof(this->tolerance);
+     return offset;
+    }
+
+    const char * getType(){ return GETPLAN; };
+    const char * getMD5(){ return "e25a43e0752bcca599a8c2eef8282df8"; };
+
+  };
+
+  class GetPlanResponse : public ros::Msg
+  {
+    public:
+      nav_msgs::Path plan;
+
+    GetPlanResponse():
+      plan()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->plan.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->plan.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return GETPLAN; };
+    const char * getMD5(){ return "0002bc113c0259d71f6cf8cbc9430e18"; };
+
+  };
+
+  class GetPlan {
+    public:
+    typedef GetPlanRequest Request;
+    typedef GetPlanResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 nav_msgs/GridCells.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/nav_msgs/GridCells.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,110 @@
+#ifndef _ROS_nav_msgs_GridCells_h
+#define _ROS_nav_msgs_GridCells_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Point.h"
+
+namespace nav_msgs
+{
+
+  class GridCells : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      float cell_width;
+      float cell_height;
+      uint8_t cells_length;
+      geometry_msgs::Point st_cells;
+      geometry_msgs::Point * cells;
+
+    GridCells():
+      header(),
+      cell_width(0),
+      cell_height(0),
+      cells_length(0), cells(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_cell_width;
+      u_cell_width.real = this->cell_width;
+      *(outbuffer + offset + 0) = (u_cell_width.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_cell_width.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_cell_width.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_cell_width.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->cell_width);
+      union {
+        float real;
+        uint32_t base;
+      } u_cell_height;
+      u_cell_height.real = this->cell_height;
+      *(outbuffer + offset + 0) = (u_cell_height.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_cell_height.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_cell_height.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_cell_height.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->cell_height);
+      *(outbuffer + offset++) = cells_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < cells_length; i++){
+      offset += this->cells[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_cell_width;
+      u_cell_width.base = 0;
+      u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_cell_width.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->cell_width = u_cell_width.real;
+      offset += sizeof(this->cell_width);
+      union {
+        float real;
+        uint32_t base;
+      } u_cell_height;
+      u_cell_height.base = 0;
+      u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_cell_height.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->cell_height = u_cell_height.real;
+      offset += sizeof(this->cell_height);
+      uint8_t cells_lengthT = *(inbuffer + offset++);
+      if(cells_lengthT > cells_length)
+        this->cells = (geometry_msgs::Point*)realloc(this->cells, cells_lengthT * sizeof(geometry_msgs::Point));
+      offset += 3;
+      cells_length = cells_lengthT;
+      for( uint8_t i = 0; i < cells_length; i++){
+      offset += this->st_cells.deserialize(inbuffer + offset);
+        memcpy( &(this->cells[i]), &(this->st_cells), sizeof(geometry_msgs::Point));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "nav_msgs/GridCells"; };
+    const char * getMD5(){ return "b9e4f5df6d28e272ebde00a3994830f5"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 nav_msgs/MapMetaData.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/nav_msgs/MapMetaData.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,113 @@
+#ifndef _ROS_nav_msgs_MapMetaData_h
+#define _ROS_nav_msgs_MapMetaData_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/time.h"
+#include "geometry_msgs/Pose.h"
+
+namespace nav_msgs
+{
+
+  class MapMetaData : public ros::Msg
+  {
+    public:
+      ros::Time map_load_time;
+      float resolution;
+      uint32_t width;
+      uint32_t height;
+      geometry_msgs::Pose origin;
+
+    MapMetaData():
+      map_load_time(),
+      resolution(0),
+      width(0),
+      height(0),
+      origin()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->map_load_time.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->map_load_time.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->map_load_time.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->map_load_time.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->map_load_time.sec);
+      *(outbuffer + offset + 0) = (this->map_load_time.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->map_load_time.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->map_load_time.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->map_load_time.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->map_load_time.nsec);
+      union {
+        float real;
+        uint32_t base;
+      } u_resolution;
+      u_resolution.real = this->resolution;
+      *(outbuffer + offset + 0) = (u_resolution.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_resolution.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_resolution.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_resolution.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->resolution);
+      *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->width);
+      *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->height);
+      offset += this->origin.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->map_load_time.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->map_load_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->map_load_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->map_load_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->map_load_time.sec);
+      this->map_load_time.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->map_load_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->map_load_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->map_load_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->map_load_time.nsec);
+      union {
+        float real;
+        uint32_t base;
+      } u_resolution;
+      u_resolution.base = 0;
+      u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_resolution.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->resolution = u_resolution.real;
+      offset += sizeof(this->resolution);
+      this->width =  ((uint32_t) (*(inbuffer + offset)));
+      this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->width);
+      this->height =  ((uint32_t) (*(inbuffer + offset)));
+      this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->height);
+      offset += this->origin.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "nav_msgs/MapMetaData"; };
+    const char * getMD5(){ return "10cfc8a2818024d3248802c00c95f11b"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 nav_msgs/OccupancyGrid.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/nav_msgs/OccupancyGrid.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,81 @@
+#ifndef _ROS_nav_msgs_OccupancyGrid_h
+#define _ROS_nav_msgs_OccupancyGrid_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "nav_msgs/MapMetaData.h"
+
+namespace nav_msgs
+{
+
+  class OccupancyGrid : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      nav_msgs::MapMetaData info;
+      uint8_t data_length;
+      int8_t st_data;
+      int8_t * data;
+
+    OccupancyGrid():
+      header(),
+      info(),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->info.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = data_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < data_length; i++){
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_datai;
+      u_datai.real = this->data[i];
+      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->info.deserialize(inbuffer + offset);
+      uint8_t data_lengthT = *(inbuffer + offset++);
+      if(data_lengthT > data_length)
+        this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
+      offset += 3;
+      data_length = data_lengthT;
+      for( uint8_t i = 0; i < data_length; i++){
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_st_data;
+      u_st_data.base = 0;
+      u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->st_data = u_st_data.real;
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "nav_msgs/OccupancyGrid"; };
+    const char * getMD5(){ return "3381f2d731d4076ec5c71b0759edbe4e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 nav_msgs/Odometry.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/nav_msgs/Odometry.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,69 @@
+#ifndef _ROS_nav_msgs_Odometry_h
+#define _ROS_nav_msgs_Odometry_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/PoseWithCovariance.h"
+#include "geometry_msgs/TwistWithCovariance.h"
+
+namespace nav_msgs
+{
+
+  class Odometry : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      const char* child_frame_id;
+      geometry_msgs::PoseWithCovariance pose;
+      geometry_msgs::TwistWithCovariance twist;
+
+    Odometry():
+      header(),
+      child_frame_id(""),
+      pose(),
+      twist()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      uint32_t length_child_frame_id = strlen(this->child_frame_id);
+      memcpy(outbuffer + offset, &length_child_frame_id, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->child_frame_id, length_child_frame_id);
+      offset += length_child_frame_id;
+      offset += this->pose.serialize(outbuffer + offset);
+      offset += this->twist.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t length_child_frame_id;
+      memcpy(&length_child_frame_id, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_child_frame_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_child_frame_id-1]=0;
+      this->child_frame_id = (char *)(inbuffer + offset-1);
+      offset += length_child_frame_id;
+      offset += this->pose.deserialize(inbuffer + offset);
+      offset += this->twist.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "nav_msgs/Odometry"; };
+    const char * getMD5(){ return "cd5e73d190d741a2f92e81eda573aca7"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 nav_msgs/Path.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/nav_msgs/Path.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,64 @@
+#ifndef _ROS_nav_msgs_Path_h
+#define _ROS_nav_msgs_Path_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/PoseStamped.h"
+
+namespace nav_msgs
+{
+
+  class Path : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t poses_length;
+      geometry_msgs::PoseStamped st_poses;
+      geometry_msgs::PoseStamped * poses;
+
+    Path():
+      header(),
+      poses_length(0), poses(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = poses_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < poses_length; i++){
+      offset += this->poses[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t poses_lengthT = *(inbuffer + offset++);
+      if(poses_lengthT > poses_length)
+        this->poses = (geometry_msgs::PoseStamped*)realloc(this->poses, poses_lengthT * sizeof(geometry_msgs::PoseStamped));
+      offset += 3;
+      poses_length = poses_lengthT;
+      for( uint8_t i = 0; i < poses_length; i++){
+      offset += this->st_poses.deserialize(inbuffer + offset);
+        memcpy( &(this->poses[i]), &(this->st_poses), sizeof(geometry_msgs::PoseStamped));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "nav_msgs/Path"; };
+    const char * getMD5(){ return "6227e2b7e9cce15051f669a5e197bbf7"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 nav_msgs/SetMap.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/nav_msgs/SetMap.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,97 @@
+#ifndef _ROS_SERVICE_SetMap_h
+#define _ROS_SERVICE_SetMap_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "nav_msgs/OccupancyGrid.h"
+#include "geometry_msgs/PoseWithCovarianceStamped.h"
+
+namespace nav_msgs
+{
+
+static const char SETMAP[] = "nav_msgs/SetMap";
+
+  class SetMapRequest : public ros::Msg
+  {
+    public:
+      nav_msgs::OccupancyGrid map;
+      geometry_msgs::PoseWithCovarianceStamped initial_pose;
+
+    SetMapRequest():
+      map(),
+      initial_pose()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->map.serialize(outbuffer + offset);
+      offset += this->initial_pose.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->map.deserialize(inbuffer + offset);
+      offset += this->initial_pose.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return SETMAP; };
+    const char * getMD5(){ return "91149a20d7be299b87c340df8cc94fd4"; };
+
+  };
+
+  class SetMapResponse : public ros::Msg
+  {
+    public:
+      bool success;
+
+    SetMapResponse():
+      success(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+     return offset;
+    }
+
+    const char * getType(){ return SETMAP; };
+    const char * getMD5(){ return "358e233cde0c8a8bcfea4ce193f8fc15"; };
+
+  };
+
+  class SetMap {
+    public:
+    typedef SetMapRequest Request;
+    typedef SetMapResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 nodelet/NodeletList.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/nodelet/NodeletList.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,102 @@
+#ifndef _ROS_SERVICE_NodeletList_h
+#define _ROS_SERVICE_NodeletList_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace nodelet
+{
+
+static const char NODELETLIST[] = "nodelet/NodeletList";
+
+  class NodeletListRequest : public ros::Msg
+  {
+    public:
+
+    NodeletListRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return NODELETLIST; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class NodeletListResponse : public ros::Msg
+  {
+    public:
+      uint8_t nodelets_length;
+      char* st_nodelets;
+      char* * nodelets;
+
+    NodeletListResponse():
+      nodelets_length(0), nodelets(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = nodelets_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < nodelets_length; i++){
+      uint32_t length_nodeletsi = strlen(this->nodelets[i]);
+      memcpy(outbuffer + offset, &length_nodeletsi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->nodelets[i], length_nodeletsi);
+      offset += length_nodeletsi;
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t nodelets_lengthT = *(inbuffer + offset++);
+      if(nodelets_lengthT > nodelets_length)
+        this->nodelets = (char**)realloc(this->nodelets, nodelets_lengthT * sizeof(char*));
+      offset += 3;
+      nodelets_length = nodelets_lengthT;
+      for( uint8_t i = 0; i < nodelets_length; i++){
+      uint32_t length_st_nodelets;
+      memcpy(&length_st_nodelets, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_nodelets; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_nodelets-1]=0;
+      this->st_nodelets = (char *)(inbuffer + offset-1);
+      offset += length_st_nodelets;
+        memcpy( &(this->nodelets[i]), &(this->st_nodelets), sizeof(char*));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return NODELETLIST; };
+    const char * getMD5(){ return "99c7b10e794f5600b8030e697e946ca7"; };
+
+  };
+
+  class NodeletList {
+    public:
+    typedef NodeletListRequest Request;
+    typedef NodeletListResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 nodelet/NodeletLoad.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/nodelet/NodeletLoad.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,231 @@
+#ifndef _ROS_SERVICE_NodeletLoad_h
+#define _ROS_SERVICE_NodeletLoad_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace nodelet
+{
+
+static const char NODELETLOAD[] = "nodelet/NodeletLoad";
+
+  class NodeletLoadRequest : public ros::Msg
+  {
+    public:
+      const char* name;
+      const char* type;
+      uint8_t remap_source_args_length;
+      char* st_remap_source_args;
+      char* * remap_source_args;
+      uint8_t remap_target_args_length;
+      char* st_remap_target_args;
+      char* * remap_target_args;
+      uint8_t my_argv_length;
+      char* st_my_argv;
+      char* * my_argv;
+      const char* bond_id;
+
+    NodeletLoadRequest():
+      name(""),
+      type(""),
+      remap_source_args_length(0), remap_source_args(NULL),
+      remap_target_args_length(0), remap_target_args(NULL),
+      my_argv_length(0), my_argv(NULL),
+      bond_id("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      uint32_t length_type = strlen(this->type);
+      memcpy(outbuffer + offset, &length_type, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->type, length_type);
+      offset += length_type;
+      *(outbuffer + offset++) = remap_source_args_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < remap_source_args_length; i++){
+      uint32_t length_remap_source_argsi = strlen(this->remap_source_args[i]);
+      memcpy(outbuffer + offset, &length_remap_source_argsi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->remap_source_args[i], length_remap_source_argsi);
+      offset += length_remap_source_argsi;
+      }
+      *(outbuffer + offset++) = remap_target_args_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < remap_target_args_length; i++){
+      uint32_t length_remap_target_argsi = strlen(this->remap_target_args[i]);
+      memcpy(outbuffer + offset, &length_remap_target_argsi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->remap_target_args[i], length_remap_target_argsi);
+      offset += length_remap_target_argsi;
+      }
+      *(outbuffer + offset++) = my_argv_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < my_argv_length; i++){
+      uint32_t length_my_argvi = strlen(this->my_argv[i]);
+      memcpy(outbuffer + offset, &length_my_argvi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->my_argv[i], length_my_argvi);
+      offset += length_my_argvi;
+      }
+      uint32_t length_bond_id = strlen(this->bond_id);
+      memcpy(outbuffer + offset, &length_bond_id, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->bond_id, length_bond_id);
+      offset += length_bond_id;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      uint32_t length_type;
+      memcpy(&length_type, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_type; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_type-1]=0;
+      this->type = (char *)(inbuffer + offset-1);
+      offset += length_type;
+      uint8_t remap_source_args_lengthT = *(inbuffer + offset++);
+      if(remap_source_args_lengthT > remap_source_args_length)
+        this->remap_source_args = (char**)realloc(this->remap_source_args, remap_source_args_lengthT * sizeof(char*));
+      offset += 3;
+      remap_source_args_length = remap_source_args_lengthT;
+      for( uint8_t i = 0; i < remap_source_args_length; i++){
+      uint32_t length_st_remap_source_args;
+      memcpy(&length_st_remap_source_args, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_remap_source_args; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_remap_source_args-1]=0;
+      this->st_remap_source_args = (char *)(inbuffer + offset-1);
+      offset += length_st_remap_source_args;
+        memcpy( &(this->remap_source_args[i]), &(this->st_remap_source_args), sizeof(char*));
+      }
+      uint8_t remap_target_args_lengthT = *(inbuffer + offset++);
+      if(remap_target_args_lengthT > remap_target_args_length)
+        this->remap_target_args = (char**)realloc(this->remap_target_args, remap_target_args_lengthT * sizeof(char*));
+      offset += 3;
+      remap_target_args_length = remap_target_args_lengthT;
+      for( uint8_t i = 0; i < remap_target_args_length; i++){
+      uint32_t length_st_remap_target_args;
+      memcpy(&length_st_remap_target_args, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_remap_target_args; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_remap_target_args-1]=0;
+      this->st_remap_target_args = (char *)(inbuffer + offset-1);
+      offset += length_st_remap_target_args;
+        memcpy( &(this->remap_target_args[i]), &(this->st_remap_target_args), sizeof(char*));
+      }
+      uint8_t my_argv_lengthT = *(inbuffer + offset++);
+      if(my_argv_lengthT > my_argv_length)
+        this->my_argv = (char**)realloc(this->my_argv, my_argv_lengthT * sizeof(char*));
+      offset += 3;
+      my_argv_length = my_argv_lengthT;
+      for( uint8_t i = 0; i < my_argv_length; i++){
+      uint32_t length_st_my_argv;
+      memcpy(&length_st_my_argv, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_my_argv; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_my_argv-1]=0;
+      this->st_my_argv = (char *)(inbuffer + offset-1);
+      offset += length_st_my_argv;
+        memcpy( &(this->my_argv[i]), &(this->st_my_argv), sizeof(char*));
+      }
+      uint32_t length_bond_id;
+      memcpy(&length_bond_id, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_bond_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_bond_id-1]=0;
+      this->bond_id = (char *)(inbuffer + offset-1);
+      offset += length_bond_id;
+     return offset;
+    }
+
+    const char * getType(){ return NODELETLOAD; };
+    const char * getMD5(){ return "c6e28cc4d2e259249d96cfb50658fbec"; };
+
+  };
+
+  class NodeletLoadResponse : public ros::Msg
+  {
+    public:
+      bool success;
+
+    NodeletLoadResponse():
+      success(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+     return offset;
+    }
+
+    const char * getType(){ return NODELETLOAD; };
+    const char * getMD5(){ return "358e233cde0c8a8bcfea4ce193f8fc15"; };
+
+  };
+
+  class NodeletLoad {
+    public:
+    typedef NodeletLoadRequest Request;
+    typedef NodeletLoadResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 nodelet/NodeletUnload.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/nodelet/NodeletUnload.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,103 @@
+#ifndef _ROS_SERVICE_NodeletUnload_h
+#define _ROS_SERVICE_NodeletUnload_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace nodelet
+{
+
+static const char NODELETUNLOAD[] = "nodelet/NodeletUnload";
+
+  class NodeletUnloadRequest : public ros::Msg
+  {
+    public:
+      const char* name;
+
+    NodeletUnloadRequest():
+      name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+     return offset;
+    }
+
+    const char * getType(){ return NODELETUNLOAD; };
+    const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; };
+
+  };
+
+  class NodeletUnloadResponse : public ros::Msg
+  {
+    public:
+      bool success;
+
+    NodeletUnloadResponse():
+      success(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+     return offset;
+    }
+
+    const char * getType(){ return NODELETUNLOAD; };
+    const char * getMD5(){ return "358e233cde0c8a8bcfea4ce193f8fc15"; };
+
+  };
+
+  class NodeletUnload {
+    public:
+    typedef NodeletUnloadRequest Request;
+    typedef NodeletUnloadResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 opencv_apps/Circle.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/Circle.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,74 @@
+#ifndef _ROS_opencv_apps_Circle_h
+#define _ROS_opencv_apps_Circle_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "opencv_apps/Point2D.h"
+
+namespace opencv_apps
+{
+
+  class Circle : public ros::Msg
+  {
+    public:
+      opencv_apps::Point2D center;
+      double radius;
+
+    Circle():
+      center(),
+      radius(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->center.serialize(outbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_radius;
+      u_radius.real = this->radius;
+      *(outbuffer + offset + 0) = (u_radius.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_radius.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_radius.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_radius.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_radius.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_radius.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_radius.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_radius.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->radius);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->center.deserialize(inbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_radius;
+      u_radius.base = 0;
+      u_radius.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_radius.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_radius.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_radius.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_radius.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_radius.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_radius.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_radius.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->radius = u_radius.real;
+      offset += sizeof(this->radius);
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/Circle"; };
+    const char * getMD5(){ return "4f6847051b4fe493b5af8caad66201d5"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/CircleArray.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/CircleArray.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,59 @@
+#ifndef _ROS_opencv_apps_CircleArray_h
+#define _ROS_opencv_apps_CircleArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "opencv_apps/Circle.h"
+
+namespace opencv_apps
+{
+
+  class CircleArray : public ros::Msg
+  {
+    public:
+      uint8_t circles_length;
+      opencv_apps::Circle st_circles;
+      opencv_apps::Circle * circles;
+
+    CircleArray():
+      circles_length(0), circles(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = circles_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < circles_length; i++){
+      offset += this->circles[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t circles_lengthT = *(inbuffer + offset++);
+      if(circles_lengthT > circles_length)
+        this->circles = (opencv_apps::Circle*)realloc(this->circles, circles_lengthT * sizeof(opencv_apps::Circle));
+      offset += 3;
+      circles_length = circles_lengthT;
+      for( uint8_t i = 0; i < circles_length; i++){
+      offset += this->st_circles.deserialize(inbuffer + offset);
+        memcpy( &(this->circles[i]), &(this->st_circles), sizeof(opencv_apps::Circle));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/CircleArray"; };
+    const char * getMD5(){ return "1970b146e338dd024c765e522039a727"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/CircleArrayStamped.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/CircleArrayStamped.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,64 @@
+#ifndef _ROS_opencv_apps_CircleArrayStamped_h
+#define _ROS_opencv_apps_CircleArrayStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "opencv_apps/Circle.h"
+
+namespace opencv_apps
+{
+
+  class CircleArrayStamped : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t circles_length;
+      opencv_apps::Circle st_circles;
+      opencv_apps::Circle * circles;
+
+    CircleArrayStamped():
+      header(),
+      circles_length(0), circles(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = circles_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < circles_length; i++){
+      offset += this->circles[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t circles_lengthT = *(inbuffer + offset++);
+      if(circles_lengthT > circles_length)
+        this->circles = (opencv_apps::Circle*)realloc(this->circles, circles_lengthT * sizeof(opencv_apps::Circle));
+      offset += 3;
+      circles_length = circles_lengthT;
+      for( uint8_t i = 0; i < circles_length; i++){
+      offset += this->st_circles.deserialize(inbuffer + offset);
+        memcpy( &(this->circles[i]), &(this->st_circles), sizeof(opencv_apps::Circle));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/CircleArrayStamped"; };
+    const char * getMD5(){ return "430ffa6c2b0a36b7e81feff1ce79c3c4"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/Contour.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/Contour.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,59 @@
+#ifndef _ROS_opencv_apps_Contour_h
+#define _ROS_opencv_apps_Contour_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "opencv_apps/Point2D.h"
+
+namespace opencv_apps
+{
+
+  class Contour : public ros::Msg
+  {
+    public:
+      uint8_t points_length;
+      opencv_apps::Point2D st_points;
+      opencv_apps::Point2D * points;
+
+    Contour():
+      points_length(0), points(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = points_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < points_length; i++){
+      offset += this->points[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t points_lengthT = *(inbuffer + offset++);
+      if(points_lengthT > points_length)
+        this->points = (opencv_apps::Point2D*)realloc(this->points, points_lengthT * sizeof(opencv_apps::Point2D));
+      offset += 3;
+      points_length = points_lengthT;
+      for( uint8_t i = 0; i < points_length; i++){
+      offset += this->st_points.deserialize(inbuffer + offset);
+        memcpy( &(this->points[i]), &(this->st_points), sizeof(opencv_apps::Point2D));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/Contour"; };
+    const char * getMD5(){ return "8f02263beef99aa03117a577a3eb879d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/ContourArray.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/ContourArray.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,59 @@
+#ifndef _ROS_opencv_apps_ContourArray_h
+#define _ROS_opencv_apps_ContourArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "opencv_apps/Contour.h"
+
+namespace opencv_apps
+{
+
+  class ContourArray : public ros::Msg
+  {
+    public:
+      uint8_t contours_length;
+      opencv_apps::Contour st_contours;
+      opencv_apps::Contour * contours;
+
+    ContourArray():
+      contours_length(0), contours(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = contours_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < contours_length; i++){
+      offset += this->contours[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t contours_lengthT = *(inbuffer + offset++);
+      if(contours_lengthT > contours_length)
+        this->contours = (opencv_apps::Contour*)realloc(this->contours, contours_lengthT * sizeof(opencv_apps::Contour));
+      offset += 3;
+      contours_length = contours_lengthT;
+      for( uint8_t i = 0; i < contours_length; i++){
+      offset += this->st_contours.deserialize(inbuffer + offset);
+        memcpy( &(this->contours[i]), &(this->st_contours), sizeof(opencv_apps::Contour));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/ContourArray"; };
+    const char * getMD5(){ return "fc54374f45559dfed248b316ccf9181d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/ContourArrayStamped.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/ContourArrayStamped.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,64 @@
+#ifndef _ROS_opencv_apps_ContourArrayStamped_h
+#define _ROS_opencv_apps_ContourArrayStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "opencv_apps/Contour.h"
+
+namespace opencv_apps
+{
+
+  class ContourArrayStamped : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t contours_length;
+      opencv_apps::Contour st_contours;
+      opencv_apps::Contour * contours;
+
+    ContourArrayStamped():
+      header(),
+      contours_length(0), contours(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = contours_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < contours_length; i++){
+      offset += this->contours[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t contours_lengthT = *(inbuffer + offset++);
+      if(contours_lengthT > contours_length)
+        this->contours = (opencv_apps::Contour*)realloc(this->contours, contours_lengthT * sizeof(opencv_apps::Contour));
+      offset += 3;
+      contours_length = contours_lengthT;
+      for( uint8_t i = 0; i < contours_length; i++){
+      offset += this->st_contours.deserialize(inbuffer + offset);
+        memcpy( &(this->contours[i]), &(this->st_contours), sizeof(opencv_apps::Contour));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/ContourArrayStamped"; };
+    const char * getMD5(){ return "6bcf2733566be102cf11fc89685fd962"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/Face.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/Face.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,63 @@
+#ifndef _ROS_opencv_apps_Face_h
+#define _ROS_opencv_apps_Face_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "opencv_apps/Rect.h"
+
+namespace opencv_apps
+{
+
+  class Face : public ros::Msg
+  {
+    public:
+      opencv_apps::Rect face;
+      uint8_t eyes_length;
+      opencv_apps::Rect st_eyes;
+      opencv_apps::Rect * eyes;
+
+    Face():
+      face(),
+      eyes_length(0), eyes(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->face.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = eyes_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < eyes_length; i++){
+      offset += this->eyes[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->face.deserialize(inbuffer + offset);
+      uint8_t eyes_lengthT = *(inbuffer + offset++);
+      if(eyes_lengthT > eyes_length)
+        this->eyes = (opencv_apps::Rect*)realloc(this->eyes, eyes_lengthT * sizeof(opencv_apps::Rect));
+      offset += 3;
+      eyes_length = eyes_lengthT;
+      for( uint8_t i = 0; i < eyes_length; i++){
+      offset += this->st_eyes.deserialize(inbuffer + offset);
+        memcpy( &(this->eyes[i]), &(this->st_eyes), sizeof(opencv_apps::Rect));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/Face"; };
+    const char * getMD5(){ return "0c2547d2eaf71219898bf5c25e36907e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/FaceArray.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/FaceArray.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,59 @@
+#ifndef _ROS_opencv_apps_FaceArray_h
+#define _ROS_opencv_apps_FaceArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "opencv_apps/Face.h"
+
+namespace opencv_apps
+{
+
+  class FaceArray : public ros::Msg
+  {
+    public:
+      uint8_t faces_length;
+      opencv_apps::Face st_faces;
+      opencv_apps::Face * faces;
+
+    FaceArray():
+      faces_length(0), faces(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = faces_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < faces_length; i++){
+      offset += this->faces[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t faces_lengthT = *(inbuffer + offset++);
+      if(faces_lengthT > faces_length)
+        this->faces = (opencv_apps::Face*)realloc(this->faces, faces_lengthT * sizeof(opencv_apps::Face));
+      offset += 3;
+      faces_length = faces_lengthT;
+      for( uint8_t i = 0; i < faces_length; i++){
+      offset += this->st_faces.deserialize(inbuffer + offset);
+        memcpy( &(this->faces[i]), &(this->st_faces), sizeof(opencv_apps::Face));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/FaceArray"; };
+    const char * getMD5(){ return "40b464276ad8e3c5012f7a3a93eed2a4"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/FaceArrayStamped.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/FaceArrayStamped.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,64 @@
+#ifndef _ROS_opencv_apps_FaceArrayStamped_h
+#define _ROS_opencv_apps_FaceArrayStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "opencv_apps/Face.h"
+
+namespace opencv_apps
+{
+
+  class FaceArrayStamped : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t faces_length;
+      opencv_apps::Face st_faces;
+      opencv_apps::Face * faces;
+
+    FaceArrayStamped():
+      header(),
+      faces_length(0), faces(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = faces_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < faces_length; i++){
+      offset += this->faces[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t faces_lengthT = *(inbuffer + offset++);
+      if(faces_lengthT > faces_length)
+        this->faces = (opencv_apps::Face*)realloc(this->faces, faces_lengthT * sizeof(opencv_apps::Face));
+      offset += 3;
+      faces_length = faces_lengthT;
+      for( uint8_t i = 0; i < faces_length; i++){
+      offset += this->st_faces.deserialize(inbuffer + offset);
+        memcpy( &(this->faces[i]), &(this->st_faces), sizeof(opencv_apps::Face));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/FaceArrayStamped"; };
+    const char * getMD5(){ return "bf258edc868c139ea6c94254d9ab51e5"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/Flow.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/Flow.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,47 @@
+#ifndef _ROS_opencv_apps_Flow_h
+#define _ROS_opencv_apps_Flow_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "opencv_apps/Point2D.h"
+
+namespace opencv_apps
+{
+
+  class Flow : public ros::Msg
+  {
+    public:
+      opencv_apps::Point2D point;
+      opencv_apps::Point2D velocity;
+
+    Flow():
+      point(),
+      velocity()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->point.serialize(outbuffer + offset);
+      offset += this->velocity.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->point.deserialize(inbuffer + offset);
+      offset += this->velocity.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/Flow"; };
+    const char * getMD5(){ return "dd9a9efd88ba39035e78af697593d751"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/FlowArray.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/FlowArray.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,59 @@
+#ifndef _ROS_opencv_apps_FlowArray_h
+#define _ROS_opencv_apps_FlowArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "opencv_apps/Flow.h"
+
+namespace opencv_apps
+{
+
+  class FlowArray : public ros::Msg
+  {
+    public:
+      uint8_t flow_length;
+      opencv_apps::Flow st_flow;
+      opencv_apps::Flow * flow;
+
+    FlowArray():
+      flow_length(0), flow(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = flow_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < flow_length; i++){
+      offset += this->flow[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t flow_lengthT = *(inbuffer + offset++);
+      if(flow_lengthT > flow_length)
+        this->flow = (opencv_apps::Flow*)realloc(this->flow, flow_lengthT * sizeof(opencv_apps::Flow));
+      offset += 3;
+      flow_length = flow_lengthT;
+      for( uint8_t i = 0; i < flow_length; i++){
+      offset += this->st_flow.deserialize(inbuffer + offset);
+        memcpy( &(this->flow[i]), &(this->st_flow), sizeof(opencv_apps::Flow));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/FlowArray"; };
+    const char * getMD5(){ return "fe292dca56eb3673cd698ea9ef841962"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/FlowArrayStamped.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/FlowArrayStamped.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,64 @@
+#ifndef _ROS_opencv_apps_FlowArrayStamped_h
+#define _ROS_opencv_apps_FlowArrayStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "opencv_apps/Flow.h"
+
+namespace opencv_apps
+{
+
+  class FlowArrayStamped : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t flow_length;
+      opencv_apps::Flow st_flow;
+      opencv_apps::Flow * flow;
+
+    FlowArrayStamped():
+      header(),
+      flow_length(0), flow(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = flow_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < flow_length; i++){
+      offset += this->flow[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t flow_lengthT = *(inbuffer + offset++);
+      if(flow_lengthT > flow_length)
+        this->flow = (opencv_apps::Flow*)realloc(this->flow, flow_lengthT * sizeof(opencv_apps::Flow));
+      offset += 3;
+      flow_length = flow_lengthT;
+      for( uint8_t i = 0; i < flow_length; i++){
+      offset += this->st_flow.deserialize(inbuffer + offset);
+        memcpy( &(this->flow[i]), &(this->st_flow), sizeof(opencv_apps::Flow));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/FlowArrayStamped"; };
+    const char * getMD5(){ return "b55faf909449963372b92417925b68cc"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/FlowStamped.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/FlowStamped.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,48 @@
+#ifndef _ROS_opencv_apps_FlowStamped_h
+#define _ROS_opencv_apps_FlowStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "opencv_apps/Flow.h"
+
+namespace opencv_apps
+{
+
+  class FlowStamped : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      opencv_apps::Flow flow;
+
+    FlowStamped():
+      header(),
+      flow()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->flow.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->flow.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/FlowStamped"; };
+    const char * getMD5(){ return "b55faf909449963372b92417925b68cc"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/Line.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/Line.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,47 @@
+#ifndef _ROS_opencv_apps_Line_h
+#define _ROS_opencv_apps_Line_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "opencv_apps/Point2D.h"
+
+namespace opencv_apps
+{
+
+  class Line : public ros::Msg
+  {
+    public:
+      opencv_apps::Point2D pt1;
+      opencv_apps::Point2D pt2;
+
+    Line():
+      pt1(),
+      pt2()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->pt1.serialize(outbuffer + offset);
+      offset += this->pt2.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->pt1.deserialize(inbuffer + offset);
+      offset += this->pt2.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/Line"; };
+    const char * getMD5(){ return "a1419010b3fc4549e3f450018363d000"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/LineArray.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/LineArray.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,59 @@
+#ifndef _ROS_opencv_apps_LineArray_h
+#define _ROS_opencv_apps_LineArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "opencv_apps/Line.h"
+
+namespace opencv_apps
+{
+
+  class LineArray : public ros::Msg
+  {
+    public:
+      uint8_t lines_length;
+      opencv_apps::Line st_lines;
+      opencv_apps::Line * lines;
+
+    LineArray():
+      lines_length(0), lines(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = lines_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < lines_length; i++){
+      offset += this->lines[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t lines_lengthT = *(inbuffer + offset++);
+      if(lines_lengthT > lines_length)
+        this->lines = (opencv_apps::Line*)realloc(this->lines, lines_lengthT * sizeof(opencv_apps::Line));
+      offset += 3;
+      lines_length = lines_lengthT;
+      for( uint8_t i = 0; i < lines_length; i++){
+      offset += this->st_lines.deserialize(inbuffer + offset);
+        memcpy( &(this->lines[i]), &(this->st_lines), sizeof(opencv_apps::Line));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/LineArray"; };
+    const char * getMD5(){ return "2b5441933900cc71528395dda29124da"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/LineArrayStamped.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/LineArrayStamped.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,64 @@
+#ifndef _ROS_opencv_apps_LineArrayStamped_h
+#define _ROS_opencv_apps_LineArrayStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "opencv_apps/Line.h"
+
+namespace opencv_apps
+{
+
+  class LineArrayStamped : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t lines_length;
+      opencv_apps::Line st_lines;
+      opencv_apps::Line * lines;
+
+    LineArrayStamped():
+      header(),
+      lines_length(0), lines(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = lines_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < lines_length; i++){
+      offset += this->lines[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t lines_lengthT = *(inbuffer + offset++);
+      if(lines_lengthT > lines_length)
+        this->lines = (opencv_apps::Line*)realloc(this->lines, lines_lengthT * sizeof(opencv_apps::Line));
+      offset += 3;
+      lines_length = lines_lengthT;
+      for( uint8_t i = 0; i < lines_length; i++){
+      offset += this->st_lines.deserialize(inbuffer + offset);
+        memcpy( &(this->lines[i]), &(this->st_lines), sizeof(opencv_apps::Line));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/LineArrayStamped"; };
+    const char * getMD5(){ return "8ad5d104256b4f6774479453d1118f74"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/Moment.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/Moment.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,849 @@
+#ifndef _ROS_opencv_apps_Moment_h
+#define _ROS_opencv_apps_Moment_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "opencv_apps/Point2D.h"
+
+namespace opencv_apps
+{
+
+  class Moment : public ros::Msg
+  {
+    public:
+      double m00;
+      double m10;
+      double m01;
+      double m20;
+      double m11;
+      double m02;
+      double m30;
+      double m21;
+      double m12;
+      double m03;
+      double mu20;
+      double mu11;
+      double mu02;
+      double mu30;
+      double mu21;
+      double mu12;
+      double mu03;
+      double nu20;
+      double nu11;
+      double nu02;
+      double nu30;
+      double nu21;
+      double nu12;
+      double nu03;
+      opencv_apps::Point2D center;
+      double length;
+      double area;
+
+    Moment():
+      m00(0),
+      m10(0),
+      m01(0),
+      m20(0),
+      m11(0),
+      m02(0),
+      m30(0),
+      m21(0),
+      m12(0),
+      m03(0),
+      mu20(0),
+      mu11(0),
+      mu02(0),
+      mu30(0),
+      mu21(0),
+      mu12(0),
+      mu03(0),
+      nu20(0),
+      nu11(0),
+      nu02(0),
+      nu30(0),
+      nu21(0),
+      nu12(0),
+      nu03(0),
+      center(),
+      length(0),
+      area(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_m00;
+      u_m00.real = this->m00;
+      *(outbuffer + offset + 0) = (u_m00.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_m00.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_m00.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_m00.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_m00.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_m00.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_m00.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_m00.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->m00);
+      union {
+        double real;
+        uint64_t base;
+      } u_m10;
+      u_m10.real = this->m10;
+      *(outbuffer + offset + 0) = (u_m10.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_m10.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_m10.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_m10.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_m10.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_m10.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_m10.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_m10.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->m10);
+      union {
+        double real;
+        uint64_t base;
+      } u_m01;
+      u_m01.real = this->m01;
+      *(outbuffer + offset + 0) = (u_m01.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_m01.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_m01.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_m01.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_m01.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_m01.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_m01.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_m01.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->m01);
+      union {
+        double real;
+        uint64_t base;
+      } u_m20;
+      u_m20.real = this->m20;
+      *(outbuffer + offset + 0) = (u_m20.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_m20.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_m20.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_m20.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_m20.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_m20.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_m20.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_m20.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->m20);
+      union {
+        double real;
+        uint64_t base;
+      } u_m11;
+      u_m11.real = this->m11;
+      *(outbuffer + offset + 0) = (u_m11.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_m11.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_m11.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_m11.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_m11.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_m11.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_m11.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_m11.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->m11);
+      union {
+        double real;
+        uint64_t base;
+      } u_m02;
+      u_m02.real = this->m02;
+      *(outbuffer + offset + 0) = (u_m02.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_m02.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_m02.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_m02.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_m02.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_m02.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_m02.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_m02.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->m02);
+      union {
+        double real;
+        uint64_t base;
+      } u_m30;
+      u_m30.real = this->m30;
+      *(outbuffer + offset + 0) = (u_m30.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_m30.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_m30.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_m30.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_m30.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_m30.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_m30.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_m30.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->m30);
+      union {
+        double real;
+        uint64_t base;
+      } u_m21;
+      u_m21.real = this->m21;
+      *(outbuffer + offset + 0) = (u_m21.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_m21.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_m21.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_m21.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_m21.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_m21.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_m21.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_m21.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->m21);
+      union {
+        double real;
+        uint64_t base;
+      } u_m12;
+      u_m12.real = this->m12;
+      *(outbuffer + offset + 0) = (u_m12.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_m12.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_m12.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_m12.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_m12.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_m12.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_m12.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_m12.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->m12);
+      union {
+        double real;
+        uint64_t base;
+      } u_m03;
+      u_m03.real = this->m03;
+      *(outbuffer + offset + 0) = (u_m03.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_m03.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_m03.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_m03.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_m03.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_m03.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_m03.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_m03.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->m03);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu20;
+      u_mu20.real = this->mu20;
+      *(outbuffer + offset + 0) = (u_mu20.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_mu20.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_mu20.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_mu20.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_mu20.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_mu20.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_mu20.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_mu20.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->mu20);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu11;
+      u_mu11.real = this->mu11;
+      *(outbuffer + offset + 0) = (u_mu11.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_mu11.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_mu11.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_mu11.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_mu11.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_mu11.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_mu11.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_mu11.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->mu11);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu02;
+      u_mu02.real = this->mu02;
+      *(outbuffer + offset + 0) = (u_mu02.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_mu02.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_mu02.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_mu02.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_mu02.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_mu02.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_mu02.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_mu02.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->mu02);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu30;
+      u_mu30.real = this->mu30;
+      *(outbuffer + offset + 0) = (u_mu30.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_mu30.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_mu30.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_mu30.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_mu30.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_mu30.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_mu30.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_mu30.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->mu30);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu21;
+      u_mu21.real = this->mu21;
+      *(outbuffer + offset + 0) = (u_mu21.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_mu21.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_mu21.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_mu21.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_mu21.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_mu21.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_mu21.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_mu21.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->mu21);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu12;
+      u_mu12.real = this->mu12;
+      *(outbuffer + offset + 0) = (u_mu12.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_mu12.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_mu12.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_mu12.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_mu12.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_mu12.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_mu12.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_mu12.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->mu12);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu03;
+      u_mu03.real = this->mu03;
+      *(outbuffer + offset + 0) = (u_mu03.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_mu03.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_mu03.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_mu03.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_mu03.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_mu03.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_mu03.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_mu03.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->mu03);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu20;
+      u_nu20.real = this->nu20;
+      *(outbuffer + offset + 0) = (u_nu20.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_nu20.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_nu20.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_nu20.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_nu20.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_nu20.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_nu20.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_nu20.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->nu20);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu11;
+      u_nu11.real = this->nu11;
+      *(outbuffer + offset + 0) = (u_nu11.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_nu11.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_nu11.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_nu11.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_nu11.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_nu11.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_nu11.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_nu11.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->nu11);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu02;
+      u_nu02.real = this->nu02;
+      *(outbuffer + offset + 0) = (u_nu02.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_nu02.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_nu02.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_nu02.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_nu02.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_nu02.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_nu02.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_nu02.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->nu02);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu30;
+      u_nu30.real = this->nu30;
+      *(outbuffer + offset + 0) = (u_nu30.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_nu30.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_nu30.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_nu30.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_nu30.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_nu30.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_nu30.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_nu30.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->nu30);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu21;
+      u_nu21.real = this->nu21;
+      *(outbuffer + offset + 0) = (u_nu21.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_nu21.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_nu21.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_nu21.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_nu21.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_nu21.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_nu21.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_nu21.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->nu21);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu12;
+      u_nu12.real = this->nu12;
+      *(outbuffer + offset + 0) = (u_nu12.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_nu12.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_nu12.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_nu12.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_nu12.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_nu12.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_nu12.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_nu12.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->nu12);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu03;
+      u_nu03.real = this->nu03;
+      *(outbuffer + offset + 0) = (u_nu03.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_nu03.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_nu03.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_nu03.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_nu03.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_nu03.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_nu03.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_nu03.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->nu03);
+      offset += this->center.serialize(outbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_length;
+      u_length.real = this->length;
+      *(outbuffer + offset + 0) = (u_length.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_length.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_length.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_length.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_length.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_length.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_length.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_length.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->length);
+      union {
+        double real;
+        uint64_t base;
+      } u_area;
+      u_area.real = this->area;
+      *(outbuffer + offset + 0) = (u_area.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_area.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_area.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_area.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_area.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_area.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_area.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_area.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->area);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_m00;
+      u_m00.base = 0;
+      u_m00.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_m00.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_m00.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_m00.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_m00.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_m00.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_m00.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_m00.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->m00 = u_m00.real;
+      offset += sizeof(this->m00);
+      union {
+        double real;
+        uint64_t base;
+      } u_m10;
+      u_m10.base = 0;
+      u_m10.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_m10.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_m10.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_m10.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_m10.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_m10.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_m10.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_m10.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->m10 = u_m10.real;
+      offset += sizeof(this->m10);
+      union {
+        double real;
+        uint64_t base;
+      } u_m01;
+      u_m01.base = 0;
+      u_m01.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_m01.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_m01.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_m01.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_m01.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_m01.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_m01.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_m01.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->m01 = u_m01.real;
+      offset += sizeof(this->m01);
+      union {
+        double real;
+        uint64_t base;
+      } u_m20;
+      u_m20.base = 0;
+      u_m20.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_m20.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_m20.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_m20.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_m20.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_m20.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_m20.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_m20.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->m20 = u_m20.real;
+      offset += sizeof(this->m20);
+      union {
+        double real;
+        uint64_t base;
+      } u_m11;
+      u_m11.base = 0;
+      u_m11.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_m11.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_m11.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_m11.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_m11.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_m11.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_m11.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_m11.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->m11 = u_m11.real;
+      offset += sizeof(this->m11);
+      union {
+        double real;
+        uint64_t base;
+      } u_m02;
+      u_m02.base = 0;
+      u_m02.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_m02.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_m02.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_m02.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_m02.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_m02.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_m02.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_m02.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->m02 = u_m02.real;
+      offset += sizeof(this->m02);
+      union {
+        double real;
+        uint64_t base;
+      } u_m30;
+      u_m30.base = 0;
+      u_m30.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_m30.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_m30.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_m30.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_m30.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_m30.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_m30.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_m30.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->m30 = u_m30.real;
+      offset += sizeof(this->m30);
+      union {
+        double real;
+        uint64_t base;
+      } u_m21;
+      u_m21.base = 0;
+      u_m21.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_m21.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_m21.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_m21.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_m21.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_m21.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_m21.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_m21.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->m21 = u_m21.real;
+      offset += sizeof(this->m21);
+      union {
+        double real;
+        uint64_t base;
+      } u_m12;
+      u_m12.base = 0;
+      u_m12.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_m12.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_m12.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_m12.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_m12.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_m12.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_m12.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_m12.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->m12 = u_m12.real;
+      offset += sizeof(this->m12);
+      union {
+        double real;
+        uint64_t base;
+      } u_m03;
+      u_m03.base = 0;
+      u_m03.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_m03.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_m03.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_m03.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_m03.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_m03.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_m03.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_m03.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->m03 = u_m03.real;
+      offset += sizeof(this->m03);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu20;
+      u_mu20.base = 0;
+      u_mu20.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_mu20.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_mu20.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_mu20.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_mu20.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_mu20.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_mu20.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_mu20.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->mu20 = u_mu20.real;
+      offset += sizeof(this->mu20);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu11;
+      u_mu11.base = 0;
+      u_mu11.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_mu11.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_mu11.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_mu11.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_mu11.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_mu11.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_mu11.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_mu11.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->mu11 = u_mu11.real;
+      offset += sizeof(this->mu11);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu02;
+      u_mu02.base = 0;
+      u_mu02.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_mu02.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_mu02.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_mu02.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_mu02.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_mu02.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_mu02.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_mu02.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->mu02 = u_mu02.real;
+      offset += sizeof(this->mu02);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu30;
+      u_mu30.base = 0;
+      u_mu30.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_mu30.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_mu30.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_mu30.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_mu30.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_mu30.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_mu30.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_mu30.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->mu30 = u_mu30.real;
+      offset += sizeof(this->mu30);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu21;
+      u_mu21.base = 0;
+      u_mu21.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_mu21.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_mu21.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_mu21.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_mu21.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_mu21.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_mu21.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_mu21.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->mu21 = u_mu21.real;
+      offset += sizeof(this->mu21);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu12;
+      u_mu12.base = 0;
+      u_mu12.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_mu12.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_mu12.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_mu12.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_mu12.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_mu12.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_mu12.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_mu12.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->mu12 = u_mu12.real;
+      offset += sizeof(this->mu12);
+      union {
+        double real;
+        uint64_t base;
+      } u_mu03;
+      u_mu03.base = 0;
+      u_mu03.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_mu03.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_mu03.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_mu03.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_mu03.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_mu03.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_mu03.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_mu03.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->mu03 = u_mu03.real;
+      offset += sizeof(this->mu03);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu20;
+      u_nu20.base = 0;
+      u_nu20.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_nu20.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_nu20.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_nu20.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_nu20.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_nu20.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_nu20.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_nu20.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->nu20 = u_nu20.real;
+      offset += sizeof(this->nu20);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu11;
+      u_nu11.base = 0;
+      u_nu11.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_nu11.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_nu11.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_nu11.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_nu11.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_nu11.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_nu11.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_nu11.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->nu11 = u_nu11.real;
+      offset += sizeof(this->nu11);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu02;
+      u_nu02.base = 0;
+      u_nu02.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_nu02.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_nu02.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_nu02.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_nu02.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_nu02.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_nu02.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_nu02.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->nu02 = u_nu02.real;
+      offset += sizeof(this->nu02);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu30;
+      u_nu30.base = 0;
+      u_nu30.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_nu30.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_nu30.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_nu30.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_nu30.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_nu30.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_nu30.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_nu30.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->nu30 = u_nu30.real;
+      offset += sizeof(this->nu30);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu21;
+      u_nu21.base = 0;
+      u_nu21.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_nu21.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_nu21.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_nu21.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_nu21.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_nu21.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_nu21.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_nu21.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->nu21 = u_nu21.real;
+      offset += sizeof(this->nu21);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu12;
+      u_nu12.base = 0;
+      u_nu12.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_nu12.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_nu12.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_nu12.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_nu12.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_nu12.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_nu12.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_nu12.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->nu12 = u_nu12.real;
+      offset += sizeof(this->nu12);
+      union {
+        double real;
+        uint64_t base;
+      } u_nu03;
+      u_nu03.base = 0;
+      u_nu03.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_nu03.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_nu03.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_nu03.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_nu03.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_nu03.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_nu03.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_nu03.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->nu03 = u_nu03.real;
+      offset += sizeof(this->nu03);
+      offset += this->center.deserialize(inbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_length;
+      u_length.base = 0;
+      u_length.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_length.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_length.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_length.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_length.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_length.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_length.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_length.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->length = u_length.real;
+      offset += sizeof(this->length);
+      union {
+        double real;
+        uint64_t base;
+      } u_area;
+      u_area.base = 0;
+      u_area.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_area.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_area.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_area.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_area.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_area.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_area.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_area.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->area = u_area.real;
+      offset += sizeof(this->area);
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/Moment"; };
+    const char * getMD5(){ return "560ee3fabfffb4ed4155742d6db8a03c"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/MomentArray.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/MomentArray.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,59 @@
+#ifndef _ROS_opencv_apps_MomentArray_h
+#define _ROS_opencv_apps_MomentArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "opencv_apps/Moment.h"
+
+namespace opencv_apps
+{
+
+  class MomentArray : public ros::Msg
+  {
+    public:
+      uint8_t moments_length;
+      opencv_apps::Moment st_moments;
+      opencv_apps::Moment * moments;
+
+    MomentArray():
+      moments_length(0), moments(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = moments_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < moments_length; i++){
+      offset += this->moments[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t moments_lengthT = *(inbuffer + offset++);
+      if(moments_lengthT > moments_length)
+        this->moments = (opencv_apps::Moment*)realloc(this->moments, moments_lengthT * sizeof(opencv_apps::Moment));
+      offset += 3;
+      moments_length = moments_lengthT;
+      for( uint8_t i = 0; i < moments_length; i++){
+      offset += this->st_moments.deserialize(inbuffer + offset);
+        memcpy( &(this->moments[i]), &(this->st_moments), sizeof(opencv_apps::Moment));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/MomentArray"; };
+    const char * getMD5(){ return "fb51ddd1dea5da45f56842efe759d448"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/MomentArrayStamped.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/MomentArrayStamped.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,64 @@
+#ifndef _ROS_opencv_apps_MomentArrayStamped_h
+#define _ROS_opencv_apps_MomentArrayStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "opencv_apps/Moment.h"
+
+namespace opencv_apps
+{
+
+  class MomentArrayStamped : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t moments_length;
+      opencv_apps::Moment st_moments;
+      opencv_apps::Moment * moments;
+
+    MomentArrayStamped():
+      header(),
+      moments_length(0), moments(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = moments_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < moments_length; i++){
+      offset += this->moments[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t moments_lengthT = *(inbuffer + offset++);
+      if(moments_lengthT > moments_length)
+        this->moments = (opencv_apps::Moment*)realloc(this->moments, moments_lengthT * sizeof(opencv_apps::Moment));
+      offset += 3;
+      moments_length = moments_lengthT;
+      for( uint8_t i = 0; i < moments_length; i++){
+      offset += this->st_moments.deserialize(inbuffer + offset);
+        memcpy( &(this->moments[i]), &(this->st_moments), sizeof(opencv_apps::Moment));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/MomentArrayStamped"; };
+    const char * getMD5(){ return "28ac0beb70b037acf76c3bed71b679a9"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/Point2D.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/Point2D.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,100 @@
+#ifndef _ROS_opencv_apps_Point2D_h
+#define _ROS_opencv_apps_Point2D_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace opencv_apps
+{
+
+  class Point2D : public ros::Msg
+  {
+    public:
+      double x;
+      double y;
+
+    Point2D():
+      x(0),
+      y(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.real = this->x;
+      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_x.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_x.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_x.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_x.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.real = this->y;
+      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_y.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_y.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_y.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_y.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->y);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.base = 0;
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->x = u_x.real;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.base = 0;
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->y = u_y.real;
+      offset += sizeof(this->y);
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/Point2D"; };
+    const char * getMD5(){ return "209f516d3eb691f0663e25cb750d67c1"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/Point2DArray.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/Point2DArray.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,59 @@
+#ifndef _ROS_opencv_apps_Point2DArray_h
+#define _ROS_opencv_apps_Point2DArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "opencv_apps/Point2D.h"
+
+namespace opencv_apps
+{
+
+  class Point2DArray : public ros::Msg
+  {
+    public:
+      uint8_t points_length;
+      opencv_apps::Point2D st_points;
+      opencv_apps::Point2D * points;
+
+    Point2DArray():
+      points_length(0), points(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = points_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < points_length; i++){
+      offset += this->points[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t points_lengthT = *(inbuffer + offset++);
+      if(points_lengthT > points_length)
+        this->points = (opencv_apps::Point2D*)realloc(this->points, points_lengthT * sizeof(opencv_apps::Point2D));
+      offset += 3;
+      points_length = points_lengthT;
+      for( uint8_t i = 0; i < points_length; i++){
+      offset += this->st_points.deserialize(inbuffer + offset);
+        memcpy( &(this->points[i]), &(this->st_points), sizeof(opencv_apps::Point2D));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/Point2DArray"; };
+    const char * getMD5(){ return "8f02263beef99aa03117a577a3eb879d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/Point2DArrayStamped.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/Point2DArrayStamped.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,64 @@
+#ifndef _ROS_opencv_apps_Point2DArrayStamped_h
+#define _ROS_opencv_apps_Point2DArrayStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "opencv_apps/Point2D.h"
+
+namespace opencv_apps
+{
+
+  class Point2DArrayStamped : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t points_length;
+      opencv_apps::Point2D st_points;
+      opencv_apps::Point2D * points;
+
+    Point2DArrayStamped():
+      header(),
+      points_length(0), points(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = points_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < points_length; i++){
+      offset += this->points[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t points_lengthT = *(inbuffer + offset++);
+      if(points_lengthT > points_length)
+        this->points = (opencv_apps::Point2D*)realloc(this->points, points_lengthT * sizeof(opencv_apps::Point2D));
+      offset += 3;
+      points_length = points_lengthT;
+      for( uint8_t i = 0; i < points_length; i++){
+      offset += this->st_points.deserialize(inbuffer + offset);
+        memcpy( &(this->points[i]), &(this->st_points), sizeof(opencv_apps::Point2D));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/Point2DArrayStamped"; };
+    const char * getMD5(){ return "06c8694bd7b07dbc04014c86ef9991a2"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/Point2DStamped.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/Point2DStamped.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,48 @@
+#ifndef _ROS_opencv_apps_Point2DStamped_h
+#define _ROS_opencv_apps_Point2DStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "opencv_apps/Point2D.h"
+
+namespace opencv_apps
+{
+
+  class Point2DStamped : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      opencv_apps::Point2D point;
+
+    Point2DStamped():
+      header(),
+      point()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->point.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->point.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/Point2DStamped"; };
+    const char * getMD5(){ return "9f7db918fde9989a73131d0d083d049d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/Rect.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/Rect.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,162 @@
+#ifndef _ROS_opencv_apps_Rect_h
+#define _ROS_opencv_apps_Rect_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace opencv_apps
+{
+
+  class Rect : public ros::Msg
+  {
+    public:
+      double x;
+      double y;
+      double width;
+      double height;
+
+    Rect():
+      x(0),
+      y(0),
+      width(0),
+      height(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.real = this->x;
+      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_x.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_x.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_x.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_x.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.real = this->y;
+      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_y.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_y.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_y.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_y.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_width;
+      u_width.real = this->width;
+      *(outbuffer + offset + 0) = (u_width.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_width.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_width.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_width.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_width.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_width.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_width.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_width.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->width);
+      union {
+        double real;
+        uint64_t base;
+      } u_height;
+      u_height.real = this->height;
+      *(outbuffer + offset + 0) = (u_height.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_height.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_height.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_height.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_height.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_height.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_height.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_height.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->height);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_x;
+      u_x.base = 0;
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_x.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->x = u_x.real;
+      offset += sizeof(this->x);
+      union {
+        double real;
+        uint64_t base;
+      } u_y;
+      u_y.base = 0;
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_y.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->y = u_y.real;
+      offset += sizeof(this->y);
+      union {
+        double real;
+        uint64_t base;
+      } u_width;
+      u_width.base = 0;
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->width = u_width.real;
+      offset += sizeof(this->width);
+      union {
+        double real;
+        uint64_t base;
+      } u_height;
+      u_height.base = 0;
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->height = u_height.real;
+      offset += sizeof(this->height);
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/Rect"; };
+    const char * getMD5(){ return "7048f28f1f0ef51e102638c86d9a7728"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/RectArray.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/RectArray.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,59 @@
+#ifndef _ROS_opencv_apps_RectArray_h
+#define _ROS_opencv_apps_RectArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "opencv_apps/Rect.h"
+
+namespace opencv_apps
+{
+
+  class RectArray : public ros::Msg
+  {
+    public:
+      uint8_t rects_length;
+      opencv_apps::Rect st_rects;
+      opencv_apps::Rect * rects;
+
+    RectArray():
+      rects_length(0), rects(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = rects_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < rects_length; i++){
+      offset += this->rects[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t rects_lengthT = *(inbuffer + offset++);
+      if(rects_lengthT > rects_length)
+        this->rects = (opencv_apps::Rect*)realloc(this->rects, rects_lengthT * sizeof(opencv_apps::Rect));
+      offset += 3;
+      rects_length = rects_lengthT;
+      for( uint8_t i = 0; i < rects_length; i++){
+      offset += this->st_rects.deserialize(inbuffer + offset);
+        memcpy( &(this->rects[i]), &(this->st_rects), sizeof(opencv_apps::Rect));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/RectArray"; };
+    const char * getMD5(){ return "d4a6f20c7699fa2791af675958a5f148"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/RectArrayStamped.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/RectArrayStamped.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,64 @@
+#ifndef _ROS_opencv_apps_RectArrayStamped_h
+#define _ROS_opencv_apps_RectArrayStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "opencv_apps/Rect.h"
+
+namespace opencv_apps
+{
+
+  class RectArrayStamped : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t rects_length;
+      opencv_apps::Rect st_rects;
+      opencv_apps::Rect * rects;
+
+    RectArrayStamped():
+      header(),
+      rects_length(0), rects(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = rects_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < rects_length; i++){
+      offset += this->rects[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t rects_lengthT = *(inbuffer + offset++);
+      if(rects_lengthT > rects_length)
+        this->rects = (opencv_apps::Rect*)realloc(this->rects, rects_lengthT * sizeof(opencv_apps::Rect));
+      offset += 3;
+      rects_length = rects_lengthT;
+      for( uint8_t i = 0; i < rects_length; i++){
+      offset += this->st_rects.deserialize(inbuffer + offset);
+        memcpy( &(this->rects[i]), &(this->st_rects), sizeof(opencv_apps::Rect));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/RectArrayStamped"; };
+    const char * getMD5(){ return "f29b08b33e061c73d7d9fc35142631d0"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/RotatedRect.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/RotatedRect.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,79 @@
+#ifndef _ROS_opencv_apps_RotatedRect_h
+#define _ROS_opencv_apps_RotatedRect_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "opencv_apps/Point2D.h"
+#include "opencv_apps/Size.h"
+
+namespace opencv_apps
+{
+
+  class RotatedRect : public ros::Msg
+  {
+    public:
+      double angle;
+      opencv_apps::Point2D center;
+      opencv_apps::Size size;
+
+    RotatedRect():
+      angle(0),
+      center(),
+      size()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_angle;
+      u_angle.real = this->angle;
+      *(outbuffer + offset + 0) = (u_angle.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angle.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angle.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angle.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_angle.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_angle.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_angle.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_angle.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->angle);
+      offset += this->center.serialize(outbuffer + offset);
+      offset += this->size.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_angle;
+      u_angle.base = 0;
+      u_angle.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angle.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angle.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angle.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_angle.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_angle.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_angle.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_angle.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->angle = u_angle.real;
+      offset += sizeof(this->angle);
+      offset += this->center.deserialize(inbuffer + offset);
+      offset += this->size.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/RotatedRect"; };
+    const char * getMD5(){ return "0ae60505c52f020176686d0689b8d390"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/RotatedRectArray.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/RotatedRectArray.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,59 @@
+#ifndef _ROS_opencv_apps_RotatedRectArray_h
+#define _ROS_opencv_apps_RotatedRectArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "opencv_apps/RotatedRect.h"
+
+namespace opencv_apps
+{
+
+  class RotatedRectArray : public ros::Msg
+  {
+    public:
+      uint8_t rects_length;
+      opencv_apps::RotatedRect st_rects;
+      opencv_apps::RotatedRect * rects;
+
+    RotatedRectArray():
+      rects_length(0), rects(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = rects_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < rects_length; i++){
+      offset += this->rects[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t rects_lengthT = *(inbuffer + offset++);
+      if(rects_lengthT > rects_length)
+        this->rects = (opencv_apps::RotatedRect*)realloc(this->rects, rects_lengthT * sizeof(opencv_apps::RotatedRect));
+      offset += 3;
+      rects_length = rects_lengthT;
+      for( uint8_t i = 0; i < rects_length; i++){
+      offset += this->st_rects.deserialize(inbuffer + offset);
+        memcpy( &(this->rects[i]), &(this->st_rects), sizeof(opencv_apps::RotatedRect));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/RotatedRectArray"; };
+    const char * getMD5(){ return "a27e397ed2b5b1a633561d324f64d2a6"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/RotatedRectArrayStamped.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/RotatedRectArrayStamped.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,64 @@
+#ifndef _ROS_opencv_apps_RotatedRectArrayStamped_h
+#define _ROS_opencv_apps_RotatedRectArrayStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "opencv_apps/RotatedRect.h"
+
+namespace opencv_apps
+{
+
+  class RotatedRectArrayStamped : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t rects_length;
+      opencv_apps::RotatedRect st_rects;
+      opencv_apps::RotatedRect * rects;
+
+    RotatedRectArrayStamped():
+      header(),
+      rects_length(0), rects(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = rects_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < rects_length; i++){
+      offset += this->rects[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t rects_lengthT = *(inbuffer + offset++);
+      if(rects_lengthT > rects_length)
+        this->rects = (opencv_apps::RotatedRect*)realloc(this->rects, rects_lengthT * sizeof(opencv_apps::RotatedRect));
+      offset += 3;
+      rects_length = rects_lengthT;
+      for( uint8_t i = 0; i < rects_length; i++){
+      offset += this->st_rects.deserialize(inbuffer + offset);
+        memcpy( &(this->rects[i]), &(this->st_rects), sizeof(opencv_apps::RotatedRect));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/RotatedRectArrayStamped"; };
+    const char * getMD5(){ return "89a2d4a7db2d2945ca46c25a3bd8c7c5"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/RotatedRectStamped.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/RotatedRectStamped.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,48 @@
+#ifndef _ROS_opencv_apps_RotatedRectStamped_h
+#define _ROS_opencv_apps_RotatedRectStamped_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "opencv_apps/RotatedRect.h"
+
+namespace opencv_apps
+{
+
+  class RotatedRectStamped : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      opencv_apps::RotatedRect rect;
+
+    RotatedRectStamped():
+      header(),
+      rect()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->rect.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->rect.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/RotatedRectStamped"; };
+    const char * getMD5(){ return "ba2d76a1968e4f77570c01223781fe15"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 opencv_apps/Size.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/opencv_apps/Size.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,100 @@
+#ifndef _ROS_opencv_apps_Size_h
+#define _ROS_opencv_apps_Size_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace opencv_apps
+{
+
+  class Size : public ros::Msg
+  {
+    public:
+      double width;
+      double height;
+
+    Size():
+      width(0),
+      height(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_width;
+      u_width.real = this->width;
+      *(outbuffer + offset + 0) = (u_width.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_width.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_width.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_width.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_width.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_width.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_width.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_width.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->width);
+      union {
+        double real;
+        uint64_t base;
+      } u_height;
+      u_height.real = this->height;
+      *(outbuffer + offset + 0) = (u_height.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_height.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_height.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_height.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_height.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_height.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_height.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_height.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->height);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_width;
+      u_width.base = 0;
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_width.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->width = u_width.real;
+      offset += sizeof(this->width);
+      union {
+        double real;
+        uint64_t base;
+      } u_height;
+      u_height.base = 0;
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_height.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->height = u_height.real;
+      offset += sizeof(this->height);
+     return offset;
+    }
+
+    const char * getType(){ return "opencv_apps/Size"; };
+    const char * getMD5(){ return "f86522e647336fb10b55359fe003f673"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 pcl_msgs/ModelCoefficients.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pcl_msgs/ModelCoefficients.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,82 @@
+#ifndef _ROS_pcl_msgs_ModelCoefficients_h
+#define _ROS_pcl_msgs_ModelCoefficients_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace pcl_msgs
+{
+
+  class ModelCoefficients : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t values_length;
+      float st_values;
+      float * values;
+
+    ModelCoefficients():
+      header(),
+      values_length(0), values(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = values_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < values_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_valuesi;
+      u_valuesi.real = this->values[i];
+      *(outbuffer + offset + 0) = (u_valuesi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_valuesi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_valuesi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_valuesi.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->values[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t values_lengthT = *(inbuffer + offset++);
+      if(values_lengthT > values_length)
+        this->values = (float*)realloc(this->values, values_lengthT * sizeof(float));
+      offset += 3;
+      values_length = values_lengthT;
+      for( uint8_t i = 0; i < values_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_st_values;
+      u_st_values.base = 0;
+      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_values = u_st_values.real;
+      offset += sizeof(this->st_values);
+        memcpy( &(this->values[i]), &(this->st_values), sizeof(float));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "pcl_msgs/ModelCoefficients"; };
+    const char * getMD5(){ return "ca27dea75e72cb894cd36f9e5005e93e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 pcl_msgs/PointIndices.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pcl_msgs/PointIndices.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,82 @@
+#ifndef _ROS_pcl_msgs_PointIndices_h
+#define _ROS_pcl_msgs_PointIndices_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace pcl_msgs
+{
+
+  class PointIndices : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t indices_length;
+      int32_t st_indices;
+      int32_t * indices;
+
+    PointIndices():
+      header(),
+      indices_length(0), indices(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = indices_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < indices_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_indicesi;
+      u_indicesi.real = this->indices[i];
+      *(outbuffer + offset + 0) = (u_indicesi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_indicesi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_indicesi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_indicesi.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->indices[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t indices_lengthT = *(inbuffer + offset++);
+      if(indices_lengthT > indices_length)
+        this->indices = (int32_t*)realloc(this->indices, indices_lengthT * sizeof(int32_t));
+      offset += 3;
+      indices_length = indices_lengthT;
+      for( uint8_t i = 0; i < indices_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_st_indices;
+      u_st_indices.base = 0;
+      u_st_indices.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_indices.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_indices.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_indices.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_indices = u_st_indices.real;
+      offset += sizeof(this->st_indices);
+        memcpy( &(this->indices[i]), &(this->st_indices), sizeof(int32_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "pcl_msgs/PointIndices"; };
+    const char * getMD5(){ return "458c7998b7eaf99908256472e273b3d4"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 pcl_msgs/PolygonMesh.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pcl_msgs/PolygonMesh.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,69 @@
+#ifndef _ROS_pcl_msgs_PolygonMesh_h
+#define _ROS_pcl_msgs_PolygonMesh_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "sensor_msgs/PointCloud2.h"
+#include "pcl_msgs/Vertices.h"
+
+namespace pcl_msgs
+{
+
+  class PolygonMesh : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      sensor_msgs::PointCloud2 cloud;
+      uint8_t polygons_length;
+      pcl_msgs::Vertices st_polygons;
+      pcl_msgs::Vertices * polygons;
+
+    PolygonMesh():
+      header(),
+      cloud(),
+      polygons_length(0), polygons(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->cloud.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = polygons_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < polygons_length; i++){
+      offset += this->polygons[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->cloud.deserialize(inbuffer + offset);
+      uint8_t polygons_lengthT = *(inbuffer + offset++);
+      if(polygons_lengthT > polygons_length)
+        this->polygons = (pcl_msgs::Vertices*)realloc(this->polygons, polygons_lengthT * sizeof(pcl_msgs::Vertices));
+      offset += 3;
+      polygons_length = polygons_lengthT;
+      for( uint8_t i = 0; i < polygons_length; i++){
+      offset += this->st_polygons.deserialize(inbuffer + offset);
+        memcpy( &(this->polygons[i]), &(this->st_polygons), sizeof(pcl_msgs::Vertices));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "pcl_msgs/PolygonMesh"; };
+    const char * getMD5(){ return "45a5fc6ad2cde8489600a790acc9a38a"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 pcl_msgs/Vertices.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/pcl_msgs/Vertices.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,66 @@
+#ifndef _ROS_pcl_msgs_Vertices_h
+#define _ROS_pcl_msgs_Vertices_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace pcl_msgs
+{
+
+  class Vertices : public ros::Msg
+  {
+    public:
+      uint8_t vertices_length;
+      uint32_t st_vertices;
+      uint32_t * vertices;
+
+    Vertices():
+      vertices_length(0), vertices(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = vertices_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < vertices_length; i++){
+      *(outbuffer + offset + 0) = (this->vertices[i] >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->vertices[i] >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->vertices[i] >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->vertices[i] >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->vertices[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t vertices_lengthT = *(inbuffer + offset++);
+      if(vertices_lengthT > vertices_length)
+        this->vertices = (uint32_t*)realloc(this->vertices, vertices_lengthT * sizeof(uint32_t));
+      offset += 3;
+      vertices_length = vertices_lengthT;
+      for( uint8_t i = 0; i < vertices_length; i++){
+      this->st_vertices =  ((uint32_t) (*(inbuffer + offset)));
+      this->st_vertices |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->st_vertices |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->st_vertices |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->st_vertices);
+        memcpy( &(this->vertices[i]), &(this->st_vertices), sizeof(uint32_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "pcl_msgs/Vertices"; };
+    const char * getMD5(){ return "39bd7b1c23763ddd1b882b97cb7cfe11"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 polled_camera/GetPolledImage.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/polled_camera/GetPolledImage.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,194 @@
+#ifndef _ROS_SERVICE_GetPolledImage_h
+#define _ROS_SERVICE_GetPolledImage_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "sensor_msgs/RegionOfInterest.h"
+#include "ros/duration.h"
+#include "ros/time.h"
+
+namespace polled_camera
+{
+
+static const char GETPOLLEDIMAGE[] = "polled_camera/GetPolledImage";
+
+  class GetPolledImageRequest : public ros::Msg
+  {
+    public:
+      const char* response_namespace;
+      ros::Duration timeout;
+      uint32_t binning_x;
+      uint32_t binning_y;
+      sensor_msgs::RegionOfInterest roi;
+
+    GetPolledImageRequest():
+      response_namespace(""),
+      timeout(),
+      binning_x(0),
+      binning_y(0),
+      roi()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_response_namespace = strlen(this->response_namespace);
+      memcpy(outbuffer + offset, &length_response_namespace, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->response_namespace, length_response_namespace);
+      offset += length_response_namespace;
+      *(outbuffer + offset + 0) = (this->timeout.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->timeout.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->timeout.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->timeout.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->timeout.sec);
+      *(outbuffer + offset + 0) = (this->timeout.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->timeout.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->timeout.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->timeout.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->timeout.nsec);
+      *(outbuffer + offset + 0) = (this->binning_x >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->binning_x >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->binning_x >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->binning_x >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->binning_x);
+      *(outbuffer + offset + 0) = (this->binning_y >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->binning_y >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->binning_y >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->binning_y >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->binning_y);
+      offset += this->roi.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_response_namespace;
+      memcpy(&length_response_namespace, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_response_namespace; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_response_namespace-1]=0;
+      this->response_namespace = (char *)(inbuffer + offset-1);
+      offset += length_response_namespace;
+      this->timeout.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->timeout.sec);
+      this->timeout.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->timeout.nsec);
+      this->binning_x =  ((uint32_t) (*(inbuffer + offset)));
+      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->binning_x);
+      this->binning_y =  ((uint32_t) (*(inbuffer + offset)));
+      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->binning_y);
+      offset += this->roi.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return GETPOLLEDIMAGE; };
+    const char * getMD5(){ return "c77ed43e530fd48e9e7a2a93845e154c"; };
+
+  };
+
+  class GetPolledImageResponse : public ros::Msg
+  {
+    public:
+      bool success;
+      const char* status_message;
+      ros::Time stamp;
+
+    GetPolledImageResponse():
+      success(0),
+      status_message(""),
+      stamp()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      *(outbuffer + offset + 0) = (this->stamp.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp.sec);
+      *(outbuffer + offset + 0) = (this->stamp.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+      this->stamp.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp.sec);
+      this->stamp.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return GETPOLLEDIMAGE; };
+    const char * getMD5(){ return "dbf1f851bc511800e6129ccd5a3542ab"; };
+
+  };
+
+  class GetPolledImage {
+    public:
+    typedef GetPolledImageRequest Request;
+    typedef GetPolledImageResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 ros.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ros.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,46 @@
+/* 
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef _ROS_H_
+#define _ROS_H_
+
+#include "ros/node_handle.h"
+#include "MbedHardware.h"
+
+namespace ros
+{
+  typedef NodeHandle_<MbedHardware> NodeHandle;
+}
+
+#endif
diff -r 000000000000 -r a906bb7c7831 ros/duration.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ros/duration.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,68 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef _ROS_DURATION_H_
+#define _ROS_DURATION_H_
+
+#include <math.h>
+#include <stdint.h>
+
+namespace ros {
+
+  void normalizeSecNSecSigned(int32_t& sec, int32_t& nsec);
+
+  class Duration
+  {
+    public:
+      int32_t sec, nsec;
+
+      Duration() : sec(0), nsec(0) {}
+      Duration(int32_t _sec, int32_t _nsec) : sec(_sec), nsec(_nsec)
+      {
+        normalizeSecNSecSigned(sec, nsec);
+      }
+
+      double round(double number) { return number < 0.0 ? ceil(number - 0.5): floor(number + 0.5); }
+      double toSec() const { return (double)sec + 1e-9*(double)nsec; };
+      void fromSec(double t) { sec = (uint32_t) floor(t); nsec = (uint32_t) round((t-sec) * 1e9); };
+
+      Duration& operator+=(const Duration &rhs);
+      Duration& operator-=(const Duration &rhs);
+      Duration& operator*=(double scale);
+  };
+
+}
+
+#endif
+
diff -r 000000000000 -r a906bb7c7831 ros/msg.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ros/msg.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,129 @@
+/* 
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef _ROS_MSG_H_
+#define _ROS_MSG_H_
+
+#include <stdint.h>
+
+namespace ros {
+
+/* Base Message Type */
+class Msg
+{
+public:
+  virtual int serialize(unsigned char *outbuffer) const = 0;
+  virtual int deserialize(unsigned char *data) = 0;
+  virtual const char * getType() = 0;
+  virtual const char * getMD5() = 0;
+
+  /**
+   * @brief This tricky function handles promoting a 32bit float to a 64bit
+   *        double, so that AVR can publish messages containing float64
+   *        fields, despite AVV having no native support for double.
+   *
+   * @param[out] outbuffer pointer for buffer to serialize to.
+   * @param[in] f value to serialize.
+   *
+   * @return number of bytes to advance the buffer pointer.
+   *
+   */
+  static int serializeAvrFloat64(unsigned char* outbuffer, const float f)
+  {
+    const int32_t* val = (int32_t*) &f;
+    int32_t exp = ((*val >> 23) & 255);
+    if (exp != 0)
+    {
+      exp += 1023 - 127;
+    }
+
+    int32_t sig = *val;
+    *(outbuffer++) = 0;
+    *(outbuffer++) = 0;
+    *(outbuffer++) = 0;
+    *(outbuffer++) = (sig << 5) & 0xff;
+    *(outbuffer++) = (sig >> 3) & 0xff;
+    *(outbuffer++) = (sig >> 11) & 0xff;
+    *(outbuffer++) = ((exp << 4) & 0xF0) | ((sig >> 19) & 0x0F);
+    *(outbuffer++) = (exp >> 4) & 0x7F;
+
+    // Mark negative bit as necessary.
+    if (f < 0)
+    {
+      *(outbuffer - 1) |= 0x80;
+    }
+
+    return 8;
+  }
+
+  /**
+   * @brief This tricky function handles demoting a 64bit double to a
+   *        32bit float, so that AVR can understand messages containing
+   *        float64 fields, despite AVR having no native support for double.
+   *
+   * @param[in] inbuffer pointer for buffer to deserialize from.
+   * @param[out] f pointer to place the deserialized value in.
+   *
+   * @return number of bytes to advance the buffer pointer.
+   */
+  static int deserializeAvrFloat64(const unsigned char* inbuffer, float* f)
+  {
+    uint32_t* val = (uint32_t*)f;
+    inbuffer += 3;
+
+    // Copy truncated mantissa.
+    *val = ((uint32_t)(*(inbuffer++)) >> 5 & 0x07);
+    *val |= ((uint32_t)(*(inbuffer++)) & 0xff) << 3;
+    *val |= ((uint32_t)(*(inbuffer++)) & 0xff) << 11;
+    *val |= ((uint32_t)(*inbuffer) & 0x0f) << 19;
+
+    // Copy truncated exponent.
+    uint32_t exp = ((uint32_t)(*(inbuffer++)) & 0xf0)>>4;
+    exp |= ((uint32_t)(*inbuffer) & 0x7f) << 4;
+    if (exp != 0)
+    {
+      *val |= ((exp) - 1023 + 127) << 23;
+    }  
+
+    // Copy negative sign.
+    *val |= ((uint32_t)(*(inbuffer++)) & 0x80) << 24;
+
+    return 8;
+  }
+
+};
+
+}  // namespace ros
+
+#endif
diff -r 000000000000 -r a906bb7c7831 ros/node_handle.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ros/node_handle.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,543 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef ROS_NODE_HANDLE_H_
+#define ROS_NODE_HANDLE_H_
+
+#include <stdint.h>
+
+#include "std_msgs/Time.h"
+#include "rosserial_msgs/TopicInfo.h"
+#include "rosserial_msgs/Log.h"
+#include "rosserial_msgs/RequestParam.h"
+
+#define SYNC_SECONDS        5
+
+#define MODE_FIRST_FF       0
+/*
+ * The second sync byte is a protocol version. It's value is 0xff for the first
+ * version of the rosserial protocol (used up to hydro), 0xfe for the second version
+ * (introduced in hydro), 0xfd for the next, and so on. Its purpose is to enable
+ * detection of mismatched protocol versions (e.g. hydro rosserial_python with groovy
+ * rosserial_arduino. It must be changed in both this file and in
+ * rosserial_python/src/rosserial_python/SerialClient.py
+ */
+#define MODE_PROTOCOL_VER   1
+#define PROTOCOL_VER1		0xff // through groovy
+#define PROTOCOL_VER2		0xfe // in hydro
+#define PROTOCOL_VER 		PROTOCOL_VER2
+#define MODE_SIZE_L         2
+#define MODE_SIZE_H         3
+#define MODE_SIZE_CHECKSUM  4   // checksum for msg size received from size L and H
+#define MODE_TOPIC_L        5   // waiting for topic id
+#define MODE_TOPIC_H        6
+#define MODE_MESSAGE        7
+#define MODE_MSG_CHECKSUM   8   // checksum for msg and topic id
+
+
+#define MSG_TIMEOUT 20  //20 milliseconds to recieve all of message data
+
+#include "msg.h"
+
+namespace ros {
+
+  class NodeHandleBase_{
+    public:
+      virtual int publish(int id, const Msg* msg)=0;
+      virtual int spinOnce()=0;
+      virtual bool connected()=0;
+    };
+}
+
+#include "publisher.h"
+#include "subscriber.h"
+#include "service_server.h"
+#include "service_client.h"
+
+namespace ros {
+
+  using rosserial_msgs::TopicInfo;
+
+  /* Node Handle */
+  template<class Hardware,
+           int MAX_SUBSCRIBERS=25,
+           int MAX_PUBLISHERS=25,
+           int INPUT_SIZE=512,
+           int OUTPUT_SIZE=512>
+  class NodeHandle_ : public NodeHandleBase_
+  {
+    protected:
+      Hardware hardware_;
+
+      /* time used for syncing */
+      uint32_t rt_time;
+
+      /* used for computing current time */
+      uint32_t sec_offset, nsec_offset;
+
+      uint8_t message_in[INPUT_SIZE];
+      uint8_t message_out[OUTPUT_SIZE];
+
+      Publisher * publishers[MAX_PUBLISHERS];
+      Subscriber_ * subscribers[MAX_SUBSCRIBERS];
+
+      /*
+       * Setup Functions
+       */
+    public:
+      NodeHandle_() : configured_(false) {
+
+        for(unsigned int i=0; i< MAX_PUBLISHERS; i++)
+	   publishers[i] = 0;
+
+        for(unsigned int i=0; i< MAX_SUBSCRIBERS; i++)
+	   subscribers[i] = 0;
+
+        for(unsigned int i=0; i< INPUT_SIZE; i++)
+	   message_in[i] = 0;
+
+        for(unsigned int i=0; i< OUTPUT_SIZE; i++)
+	   message_out[i] = 0;
+
+        req_param_resp.ints_length = 0;
+        req_param_resp.ints = NULL;
+        req_param_resp.floats_length = 0;
+        req_param_resp.floats = NULL;
+        req_param_resp.ints_length = 0;
+        req_param_resp.ints = NULL;
+      }
+
+      Hardware* getHardware(){
+        return &hardware_;
+      }
+
+      /* Start serial, initialize buffers */
+      void initNode(){
+        hardware_.init();
+        mode_ = 0;
+        bytes_ = 0;
+        index_ = 0;
+        topic_ = 0;
+      };
+
+      /* Start a named port, which may be network server IP, initialize buffers */
+      void initNode(char *portName){
+        hardware_.init(portName);
+        mode_ = 0;
+        bytes_ = 0;
+        index_ = 0;
+        topic_ = 0;
+      };
+
+    protected:
+      //State machine variables for spinOnce
+      int mode_;
+      int bytes_;
+      int topic_;
+      int index_;
+      int checksum_;
+
+      bool configured_;
+
+      /* used for syncing the time */
+      uint32_t last_sync_time;
+      uint32_t last_sync_receive_time;
+      uint32_t last_msg_timeout_time;
+
+    public:
+      /* This function goes in your loop() function, it handles
+       *  serial input and callbacks for subscribers.
+       */
+
+
+      virtual int spinOnce(){
+
+        /* restart if timed out */
+        uint32_t c_time = hardware_.time();
+        if( (c_time - last_sync_receive_time) > (SYNC_SECONDS*2200) ){
+            configured_ = false;
+         }
+
+        /* reset if message has timed out */
+        if ( mode_ != MODE_FIRST_FF){
+          if (c_time > last_msg_timeout_time){
+            mode_ = MODE_FIRST_FF;
+          }
+        }
+
+        /* while available buffer, read data */
+        while( true )
+        {
+          int data = hardware_.read();
+          if( data < 0 )
+            break;
+          checksum_ += data;
+          if( mode_ == MODE_MESSAGE ){        /* message data being recieved */
+            message_in[index_++] = data;
+            bytes_--;
+            if(bytes_ == 0)                  /* is message complete? if so, checksum */
+              mode_ = MODE_MSG_CHECKSUM;
+          }else if( mode_ == MODE_FIRST_FF ){
+            if(data == 0xff){
+              mode_++;
+              last_msg_timeout_time = c_time + MSG_TIMEOUT;
+            }
+            else if( hardware_.time() - c_time > (SYNC_SECONDS)){
+              /* We have been stuck in spinOnce too long, return error */
+              configured_=false;
+              return -2;
+            }
+          }else if( mode_ == MODE_PROTOCOL_VER ){
+            if(data == PROTOCOL_VER){
+              mode_++;
+            }else{
+              mode_ = MODE_FIRST_FF;
+              if (configured_ == false)
+                  requestSyncTime(); 	/* send a msg back showing our protocol version */
+            }
+	  }else if( mode_ == MODE_SIZE_L ){   /* bottom half of message size */
+            bytes_ = data;
+            index_ = 0;
+            mode_++;
+            checksum_ = data;               /* first byte for calculating size checksum */
+          }else if( mode_ == MODE_SIZE_H ){   /* top half of message size */
+            bytes_ += data<<8;
+	    mode_++;
+          }else if( mode_ == MODE_SIZE_CHECKSUM ){
+            if( (checksum_%256) == 255)
+	      mode_++;
+	    else
+	      mode_ = MODE_FIRST_FF;          /* Abandon the frame if the msg len is wrong */
+	  }else if( mode_ == MODE_TOPIC_L ){  /* bottom half of topic id */
+            topic_ = data;
+            mode_++;
+            checksum_ = data;               /* first byte included in checksum */
+          }else if( mode_ == MODE_TOPIC_H ){  /* top half of topic id */
+            topic_ += data<<8;
+            mode_ = MODE_MESSAGE;
+            if(bytes_ == 0)
+              mode_ = MODE_MSG_CHECKSUM;
+          }else if( mode_ == MODE_MSG_CHECKSUM ){ /* do checksum */
+            mode_ = MODE_FIRST_FF;
+            if( (checksum_%256) == 255){
+              if(topic_ == TopicInfo::ID_PUBLISHER){
+                requestSyncTime();
+                negotiateTopics();
+                last_sync_time = c_time;
+                last_sync_receive_time = c_time;
+                return -1;
+              }else if(topic_ == TopicInfo::ID_TIME){
+                syncTime(message_in);
+              }else if (topic_ == TopicInfo::ID_PARAMETER_REQUEST){
+                  req_param_resp.deserialize(message_in);
+                  param_recieved= true;
+              }else if(topic_ == TopicInfo::ID_TX_STOP){
+                  configured_ = false;
+              }else{
+                if(subscribers[topic_-100])
+                  subscribers[topic_-100]->callback( message_in );
+              }
+            }
+          }
+        }
+
+        /* occasionally sync time */
+        if( configured_ && ((c_time-last_sync_time) > (SYNC_SECONDS*500) )){
+          requestSyncTime();
+          last_sync_time = c_time;
+        }
+
+        return 0;
+      }
+
+
+      /* Are we connected to the PC? */
+      virtual bool connected() {
+        return configured_;
+      };
+
+      /********************************************************************
+       * Time functions
+       */
+
+      void requestSyncTime()
+      {
+        std_msgs::Time t;
+        publish(TopicInfo::ID_TIME, &t);
+        rt_time = hardware_.time();
+      }
+
+      void syncTime(uint8_t * data)
+      {
+        std_msgs::Time t;
+        uint32_t offset = hardware_.time() - rt_time;
+
+        t.deserialize(data);
+        t.data.sec += offset/1000;
+        t.data.nsec += (offset%1000)*1000000UL;
+
+        this->setNow(t.data);
+        last_sync_receive_time = hardware_.time();
+      }
+
+      Time now()
+      {
+        uint32_t ms = hardware_.time();
+        Time current_time;
+        current_time.sec = ms/1000 + sec_offset;
+        current_time.nsec = (ms%1000)*1000000UL + nsec_offset;
+        normalizeSecNSec(current_time.sec, current_time.nsec);
+        return current_time;
+      }
+
+      void setNow( Time & new_now )
+      {
+        uint32_t ms = hardware_.time();
+        sec_offset = new_now.sec - ms/1000 - 1;
+        nsec_offset = new_now.nsec - (ms%1000)*1000000UL + 1000000000UL;
+        normalizeSecNSec(sec_offset, nsec_offset);
+      }
+
+      /********************************************************************
+       * Topic Management
+       */
+
+      /* Register a new publisher */
+      bool advertise(Publisher & p)
+      {
+        for(int i = 0; i < MAX_PUBLISHERS; i++){
+          if(publishers[i] == 0){ // empty slot
+            publishers[i] = &p;
+            p.id_ = i+100+MAX_SUBSCRIBERS;
+            p.nh_ = this;
+            return true;
+          }
+        }
+        return false;
+      }
+
+      /* Register a new subscriber */
+      template<typename MsgT>
+      bool subscribe(Subscriber< MsgT> & s){
+        for(int i = 0; i < MAX_SUBSCRIBERS; i++){
+          if(subscribers[i] == 0){ // empty slot
+            subscribers[i] = (Subscriber_*) &s;
+            s.id_ = i+100;
+            return true;
+          }
+        }
+        return false;
+      }
+
+      /* Register a new Service Server */
+      template<typename MReq, typename MRes>
+      bool advertiseService(ServiceServer<MReq,MRes>& srv){
+        bool v = advertise(srv.pub);
+        for(int i = 0; i < MAX_SUBSCRIBERS; i++){
+          if(subscribers[i] == 0){ // empty slot
+            subscribers[i] = (Subscriber_*) &srv;
+            srv.id_ = i+100;
+            return v;
+          }
+        }
+        return false;
+      }
+
+      /* Register a new Service Client */
+      template<typename MReq, typename MRes>
+      bool serviceClient(ServiceClient<MReq, MRes>& srv){
+        bool v = advertise(srv.pub);
+        for(int i = 0; i < MAX_SUBSCRIBERS; i++){
+          if(subscribers[i] == 0){ // empty slot
+            subscribers[i] = (Subscriber_*) &srv;
+            srv.id_ = i+100;
+            return v;
+          }
+        }
+        return false;
+      }
+
+      void negotiateTopics()
+      {
+        rosserial_msgs::TopicInfo ti;
+        int i;
+        for(i = 0; i < MAX_PUBLISHERS; i++)
+        {
+          if(publishers[i] != 0) // non-empty slot
+          {
+            ti.topic_id = publishers[i]->id_;
+            ti.topic_name = (char *) publishers[i]->topic_;
+            ti.message_type = (char *) publishers[i]->msg_->getType();
+            ti.md5sum = (char *) publishers[i]->msg_->getMD5();
+            ti.buffer_size = OUTPUT_SIZE;
+            publish( publishers[i]->getEndpointType(), &ti );
+          }
+        }
+        for(i = 0; i < MAX_SUBSCRIBERS; i++)
+        {
+          if(subscribers[i] != 0) // non-empty slot
+          {
+            ti.topic_id = subscribers[i]->id_;
+            ti.topic_name = (char *) subscribers[i]->topic_;
+            ti.message_type = (char *) subscribers[i]->getMsgType();
+            ti.md5sum = (char *) subscribers[i]->getMsgMD5();
+            ti.buffer_size = INPUT_SIZE;
+            publish( subscribers[i]->getEndpointType(), &ti );
+          }
+        }
+        configured_ = true;
+      }
+
+      virtual int publish(int id, const Msg * msg)
+      {
+        if(id >= 100 && !configured_)
+	  return 0;
+
+        /* serialize message */
+        uint16_t l = msg->serialize(message_out+7);
+
+        /* setup the header */
+        message_out[0] = 0xff;
+        message_out[1] = PROTOCOL_VER;
+        message_out[2] = (uint8_t) ((uint16_t)l&255);
+        message_out[3] = (uint8_t) ((uint16_t)l>>8);
+	message_out[4] = 255 - ((message_out[2] + message_out[3])%256);
+        message_out[5] = (uint8_t) ((int16_t)id&255);
+        message_out[6] = (uint8_t) ((int16_t)id>>8);
+
+        /* calculate checksum */
+        int chk = 0;
+        for(int i =5; i<l+7; i++)
+          chk += message_out[i];
+        l += 7;
+        message_out[l++] = 255 - (chk%256);
+
+        if( l <= OUTPUT_SIZE ){
+          hardware_.write(message_out, l);
+          return l;
+        }else{
+          logerror("Message from device dropped: message larger than buffer.");
+          return -1;
+        }
+      }
+
+      /********************************************************************
+       * Logging
+       */
+
+    private:
+      void log(char byte, const char * msg){
+        rosserial_msgs::Log l;
+        l.level= byte;
+        l.msg = (char*)msg;
+        publish(rosserial_msgs::TopicInfo::ID_LOG, &l);
+      }
+
+    public:
+      void logdebug(const char* msg){
+        log(rosserial_msgs::Log::ROSDEBUG, msg);
+      }
+      void loginfo(const char * msg){
+        log(rosserial_msgs::Log::INFO, msg);
+      }
+      void logwarn(const char *msg){
+        log(rosserial_msgs::Log::WARN, msg);
+      }
+      void logerror(const char*msg){
+        log(rosserial_msgs::Log::ERROR, msg);
+      }
+      void logfatal(const char*msg){
+        log(rosserial_msgs::Log::FATAL, msg);
+      }
+
+      /********************************************************************
+       * Parameters
+       */
+
+    private:
+      bool param_recieved;
+      rosserial_msgs::RequestParamResponse req_param_resp;
+
+      bool requestParam(const char * name, int time_out =  1000){
+        param_recieved = false;
+        rosserial_msgs::RequestParamRequest req;
+        req.name  = (char*)name;
+        publish(TopicInfo::ID_PARAMETER_REQUEST, &req);
+        uint16_t end_time = hardware_.time() + time_out;
+        while(!param_recieved ){
+          spinOnce();
+          if (hardware_.time() > end_time) return false;
+        }
+        return true;
+      }
+
+    public:
+      bool getParam(const char* name, int* param, int length =1){
+        if (requestParam(name) ){
+          if (length == req_param_resp.ints_length){
+            //copy it over
+            for(int i=0; i<length; i++)
+              param[i] = req_param_resp.ints[i];
+            return true;
+          }
+        }
+        return false;
+      }
+      bool getParam(const char* name, float* param, int length=1){
+        if (requestParam(name) ){
+          if (length == req_param_resp.floats_length){
+            //copy it over
+            for(int i=0; i<length; i++)
+              param[i] = req_param_resp.floats[i];
+            return true;
+          }
+        }
+        return false;
+      }
+      bool getParam(const char* name, char** param, int length=1){
+        if (requestParam(name) ){
+          if (length == req_param_resp.strings_length){
+            //copy it over
+            for(int i=0; i<length; i++)
+              strcpy(param[i],req_param_resp.strings[i]);
+            return true;
+          }
+        }
+        return false;
+      }
+  };
+
+}
+
+#endif
diff -r 000000000000 -r a906bb7c7831 ros/publisher.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ros/publisher.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,67 @@
+/* 
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef _ROS_PUBLISHER_H_
+#define _ROS_PUBLISHER_H_
+
+#include "rosserial_msgs/TopicInfo.h"
+#include "node_handle.h"
+
+namespace ros {
+
+  /* Generic Publisher */
+  class Publisher
+  {
+    public:
+      Publisher( const char * topic_name, Msg * msg, int endpoint=rosserial_msgs::TopicInfo::ID_PUBLISHER) :
+        topic_(topic_name), 
+        msg_(msg),
+        endpoint_(endpoint) {};
+
+      int publish( const Msg * msg ) { return nh_->publish(id_, msg); };
+      int getEndpointType(){ return endpoint_; }
+
+      const char * topic_;
+      Msg *msg_;
+      // id_ and no_ are set by NodeHandle when we advertise 
+      int id_;
+      NodeHandleBase_* nh_;
+
+    private:
+      int endpoint_;
+  };
+
+}
+
+#endif
diff -r 000000000000 -r a906bb7c7831 ros/service_client.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ros/service_client.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,83 @@
+/* 
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef _ROS_SERVICE_CLIENT_H_
+#define _ROS_SERVICE_CLIENT_H_
+
+#include "rosserial_msgs/TopicInfo.h"
+
+#include "publisher.h"
+#include "subscriber.h"
+
+namespace ros {
+
+  template<typename MReq , typename MRes>
+  class ServiceClient : public Subscriber_  {
+    public:
+      ServiceClient(const char* topic_name) : 
+        pub(topic_name, &req, rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_PUBLISHER)
+      {
+        this->topic_ = topic_name;
+        this->waiting = true;
+      }
+
+      virtual void call(const MReq & request, MRes & response)
+      {
+        if(!pub.nh_->connected()) return;
+        ret = &response;
+        waiting = true;
+        pub.publish(&request);
+        while(waiting && pub.nh_->connected())
+          if(pub.nh_->spinOnce() < 0) break;
+      }
+
+      // these refer to the subscriber
+      virtual void callback(unsigned char *data){
+        ret->deserialize(data);
+        waiting = false;
+      }
+      virtual const char * getMsgType(){ return this->resp.getType(); }
+      virtual const char * getMsgMD5(){ return this->resp.getMD5(); }
+      virtual int getEndpointType(){ return rosserial_msgs::TopicInfo::ID_SERVICE_CLIENT + rosserial_msgs::TopicInfo::ID_SUBSCRIBER; }
+
+      MReq req;
+      MRes resp;
+      MRes * ret;
+      bool waiting;
+      Publisher pub;
+  };
+
+}
+
+#endif
diff -r 000000000000 -r a906bb7c7831 ros/service_server.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ros/service_server.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,76 @@
+/* 
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef _ROS_SERVICE_SERVER_H_
+#define _ROS_SERVICE_SERVER_H_
+
+#include "rosserial_msgs/TopicInfo.h"
+
+#include "publisher.h"
+#include "subscriber.h"
+
+namespace ros {
+
+  template<typename MReq , typename MRes>
+  class ServiceServer : public Subscriber_ {
+    public:
+      typedef void(*CallbackT)(const MReq&,  MRes&);
+
+      ServiceServer(const char* topic_name, CallbackT cb) :
+        pub(topic_name, &resp, rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_PUBLISHER)
+      {
+        this->topic_ = topic_name;
+        this->cb_ = cb;
+      }
+
+      // these refer to the subscriber
+      virtual void callback(unsigned char *data){
+        req.deserialize(data);
+        cb_(req,resp);
+        pub.publish(&resp);
+      }
+      virtual const char * getMsgType(){ return this->req.getType(); }
+      virtual const char * getMsgMD5(){ return this->req.getMD5(); }
+      virtual int getEndpointType(){ return rosserial_msgs::TopicInfo::ID_SERVICE_SERVER + rosserial_msgs::TopicInfo::ID_SUBSCRIBER; }
+
+      MReq req;
+      MRes resp;
+      Publisher pub;
+    private:
+      CallbackT cb_;
+  };
+
+}
+
+#endif
diff -r 000000000000 -r a906bb7c7831 ros/subscriber.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ros/subscriber.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,88 @@
+/* 
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef ROS_SUBSCRIBER_H_
+#define ROS_SUBSCRIBER_H_
+
+#include "rosserial_msgs/TopicInfo.h"
+
+namespace ros {
+
+  /* Base class for objects subscribers. */
+  class Subscriber_
+  {
+    public:
+      virtual void callback(unsigned char *data)=0;
+      virtual int getEndpointType()=0;
+
+      // id_ is set by NodeHandle when we advertise 
+      int id_;
+
+      virtual const char * getMsgType()=0;
+      virtual const char * getMsgMD5()=0;
+      const char * topic_;
+  };
+
+
+  /* Actual subscriber, templated on message type. */
+  template<typename MsgT>
+  class Subscriber: public Subscriber_{
+    public:
+      typedef void(*CallbackT)(const MsgT&);
+      MsgT msg;
+
+      Subscriber(const char * topic_name, CallbackT cb, int endpoint=rosserial_msgs::TopicInfo::ID_SUBSCRIBER) :
+        cb_(cb),
+        endpoint_(endpoint)
+      {
+        topic_ = topic_name;
+      };
+
+      virtual void callback(unsigned char* data){
+        msg.deserialize(data);
+        this->cb_(msg);
+      }
+
+      virtual const char * getMsgType(){ return this->msg.getType(); }
+      virtual const char * getMsgMD5(){ return this->msg.getMD5(); }
+      virtual int getEndpointType(){ return endpoint_; }
+
+    private:
+      CallbackT cb_;
+      int endpoint_;
+  };
+
+}
+
+#endif
diff -r 000000000000 -r a906bb7c7831 ros/time.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/ros/time.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,74 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef ROS_TIME_H_
+#define ROS_TIME_H_
+
+#include <math.h>
+#include <stdint.h>
+
+#include "ros/duration.h"
+
+namespace ros
+{
+  void normalizeSecNSec(uint32_t &sec, uint32_t &nsec);
+
+  class Time
+  {
+    public:
+      uint32_t sec, nsec;
+
+      Time() : sec(0), nsec(0) {}
+      Time(uint32_t _sec, uint32_t _nsec) : sec(_sec), nsec(_nsec)
+      {
+        normalizeSecNSec(sec, nsec);
+      }
+
+      double round(double number) { return number < 0.0 ? ceil(number - 0.5): floor(number + 0.5); }
+      double toSec() const { return (double)sec + 1e-9*(double)nsec; };
+      void fromSec(double t) { sec = (uint32_t) floor(t); nsec = (uint32_t) round((t-sec) * 1e9); };
+
+      uint32_t toNsec() { return (uint32_t)sec*1000000000ull + (uint32_t)nsec; };
+      Time& fromNSec(int32_t t);
+
+      Time& operator +=(const Duration &rhs);
+      Time& operator -=(const Duration &rhs);
+
+      static Time now();
+      static void setNow( Time & new_now);
+  };
+
+}
+
+#endif
diff -r 000000000000 -r a906bb7c7831 roscpp/Empty.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/roscpp/Empty.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,70 @@
+#ifndef _ROS_SERVICE_Empty_h
+#define _ROS_SERVICE_Empty_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace roscpp
+{
+
+static const char EMPTY[] = "roscpp/Empty";
+
+  class EmptyRequest : public ros::Msg
+  {
+    public:
+
+    EmptyRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return EMPTY; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class EmptyResponse : public ros::Msg
+  {
+    public:
+
+    EmptyResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return EMPTY; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class Empty {
+    public:
+    typedef EmptyRequest Request;
+    typedef EmptyResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 roscpp/GetLoggers.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/roscpp/GetLoggers.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,91 @@
+#ifndef _ROS_SERVICE_GetLoggers_h
+#define _ROS_SERVICE_GetLoggers_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "roscpp/Logger.h"
+
+namespace roscpp
+{
+
+static const char GETLOGGERS[] = "roscpp/GetLoggers";
+
+  class GetLoggersRequest : public ros::Msg
+  {
+    public:
+
+    GetLoggersRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return GETLOGGERS; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class GetLoggersResponse : public ros::Msg
+  {
+    public:
+      uint8_t loggers_length;
+      roscpp::Logger st_loggers;
+      roscpp::Logger * loggers;
+
+    GetLoggersResponse():
+      loggers_length(0), loggers(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = loggers_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < loggers_length; i++){
+      offset += this->loggers[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t loggers_lengthT = *(inbuffer + offset++);
+      if(loggers_lengthT > loggers_length)
+        this->loggers = (roscpp::Logger*)realloc(this->loggers, loggers_lengthT * sizeof(roscpp::Logger));
+      offset += 3;
+      loggers_length = loggers_lengthT;
+      for( uint8_t i = 0; i < loggers_length; i++){
+      offset += this->st_loggers.deserialize(inbuffer + offset);
+        memcpy( &(this->loggers[i]), &(this->st_loggers), sizeof(roscpp::Logger));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return GETLOGGERS; };
+    const char * getMD5(){ return "32e97e85527d4678a8f9279894bb64b0"; };
+
+  };
+
+  class GetLoggers {
+    public:
+    typedef GetLoggersRequest Request;
+    typedef GetLoggersResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 roscpp/Logger.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/roscpp/Logger.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,70 @@
+#ifndef _ROS_roscpp_Logger_h
+#define _ROS_roscpp_Logger_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace roscpp
+{
+
+  class Logger : public ros::Msg
+  {
+    public:
+      const char* name;
+      const char* level;
+
+    Logger():
+      name(""),
+      level("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      uint32_t length_level = strlen(this->level);
+      memcpy(outbuffer + offset, &length_level, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->level, length_level);
+      offset += length_level;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      uint32_t length_level;
+      memcpy(&length_level, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_level; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_level-1]=0;
+      this->level = (char *)(inbuffer + offset-1);
+      offset += length_level;
+     return offset;
+    }
+
+    const char * getType(){ return "roscpp/Logger"; };
+    const char * getMD5(){ return "a6069a2ff40db7bd32143dd66e1f408e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 roscpp/SetLoggerLevel.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/roscpp/SetLoggerLevel.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,102 @@
+#ifndef _ROS_SERVICE_SetLoggerLevel_h
+#define _ROS_SERVICE_SetLoggerLevel_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace roscpp
+{
+
+static const char SETLOGGERLEVEL[] = "roscpp/SetLoggerLevel";
+
+  class SetLoggerLevelRequest : public ros::Msg
+  {
+    public:
+      const char* logger;
+      const char* level;
+
+    SetLoggerLevelRequest():
+      logger(""),
+      level("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_logger = strlen(this->logger);
+      memcpy(outbuffer + offset, &length_logger, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->logger, length_logger);
+      offset += length_logger;
+      uint32_t length_level = strlen(this->level);
+      memcpy(outbuffer + offset, &length_level, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->level, length_level);
+      offset += length_level;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_logger;
+      memcpy(&length_logger, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_logger; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_logger-1]=0;
+      this->logger = (char *)(inbuffer + offset-1);
+      offset += length_logger;
+      uint32_t length_level;
+      memcpy(&length_level, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_level; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_level-1]=0;
+      this->level = (char *)(inbuffer + offset-1);
+      offset += length_level;
+     return offset;
+    }
+
+    const char * getType(){ return SETLOGGERLEVEL; };
+    const char * getMD5(){ return "51da076440d78ca1684d36c868df61ea"; };
+
+  };
+
+  class SetLoggerLevelResponse : public ros::Msg
+  {
+    public:
+
+    SetLoggerLevelResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return SETLOGGERLEVEL; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class SetLoggerLevel {
+    public:
+    typedef SetLoggerLevelRequest Request;
+    typedef SetLoggerLevelResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 roscpp_tutorials/TwoInts.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/roscpp_tutorials/TwoInts.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,163 @@
+#ifndef _ROS_SERVICE_TwoInts_h
+#define _ROS_SERVICE_TwoInts_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace roscpp_tutorials
+{
+
+static const char TWOINTS[] = "roscpp_tutorials/TwoInts";
+
+  class TwoIntsRequest : public ros::Msg
+  {
+    public:
+      int64_t a;
+      int64_t b;
+
+    TwoIntsRequest():
+      a(0),
+      b(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_a;
+      u_a.real = this->a;
+      *(outbuffer + offset + 0) = (u_a.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_a.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_a.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_a.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_a.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_a.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_a.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_a.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->a);
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_b;
+      u_b.real = this->b;
+      *(outbuffer + offset + 0) = (u_b.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_b.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_b.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_b.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_b.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_b.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_b.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_b.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->b);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_a;
+      u_a.base = 0;
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->a = u_a.real;
+      offset += sizeof(this->a);
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_b;
+      u_b.base = 0;
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->b = u_b.real;
+      offset += sizeof(this->b);
+     return offset;
+    }
+
+    const char * getType(){ return TWOINTS; };
+    const char * getMD5(){ return "36d09b846be0b371c5f190354dd3153e"; };
+
+  };
+
+  class TwoIntsResponse : public ros::Msg
+  {
+    public:
+      int64_t sum;
+
+    TwoIntsResponse():
+      sum(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_sum;
+      u_sum.real = this->sum;
+      *(outbuffer + offset + 0) = (u_sum.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_sum.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_sum.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_sum.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_sum.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_sum.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_sum.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_sum.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->sum);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_sum;
+      u_sum.base = 0;
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->sum = u_sum.real;
+      offset += sizeof(this->sum);
+     return offset;
+    }
+
+    const char * getType(){ return TWOINTS; };
+    const char * getMD5(){ return "b88405221c77b1878a3cbbfff53428d7"; };
+
+  };
+
+  class TwoInts {
+    public:
+    typedef TwoIntsRequest Request;
+    typedef TwoIntsResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 rosgraph_msgs/Clock.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rosgraph_msgs/Clock.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,61 @@
+#ifndef _ROS_rosgraph_msgs_Clock_h
+#define _ROS_rosgraph_msgs_Clock_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/time.h"
+
+namespace rosgraph_msgs
+{
+
+  class Clock : public ros::Msg
+  {
+    public:
+      ros::Time clock;
+
+    Clock():
+      clock()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->clock.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->clock.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->clock.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->clock.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->clock.sec);
+      *(outbuffer + offset + 0) = (this->clock.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->clock.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->clock.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->clock.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->clock.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->clock.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->clock.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->clock.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->clock.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->clock.sec);
+      this->clock.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->clock.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->clock.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->clock.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->clock.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return "rosgraph_msgs/Clock"; };
+    const char * getMD5(){ return "a9c97c1d230cfc112e270351a944ee47"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 rosgraph_msgs/Log.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rosgraph_msgs/Log.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,173 @@
+#ifndef _ROS_rosgraph_msgs_Log_h
+#define _ROS_rosgraph_msgs_Log_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace rosgraph_msgs
+{
+
+  class Log : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      int8_t level;
+      const char* name;
+      const char* msg;
+      const char* file;
+      const char* function;
+      uint32_t line;
+      uint8_t topics_length;
+      char* st_topics;
+      char* * topics;
+      enum { DEBUG = 1  };
+      enum { INFO = 2   };
+      enum { WARN = 4   };
+      enum { ERROR = 8  };
+      enum { FATAL = 16  };
+
+    Log():
+      header(),
+      level(0),
+      name(""),
+      msg(""),
+      file(""),
+      function(""),
+      line(0),
+      topics_length(0), topics(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_level;
+      u_level.real = this->level;
+      *(outbuffer + offset + 0) = (u_level.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->level);
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      uint32_t length_msg = strlen(this->msg);
+      memcpy(outbuffer + offset, &length_msg, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->msg, length_msg);
+      offset += length_msg;
+      uint32_t length_file = strlen(this->file);
+      memcpy(outbuffer + offset, &length_file, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->file, length_file);
+      offset += length_file;
+      uint32_t length_function = strlen(this->function);
+      memcpy(outbuffer + offset, &length_function, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->function, length_function);
+      offset += length_function;
+      *(outbuffer + offset + 0) = (this->line >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->line >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->line >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->line >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->line);
+      *(outbuffer + offset++) = topics_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < topics_length; i++){
+      uint32_t length_topicsi = strlen(this->topics[i]);
+      memcpy(outbuffer + offset, &length_topicsi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->topics[i], length_topicsi);
+      offset += length_topicsi;
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_level;
+      u_level.base = 0;
+      u_level.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->level = u_level.real;
+      offset += sizeof(this->level);
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      uint32_t length_msg;
+      memcpy(&length_msg, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_msg; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_msg-1]=0;
+      this->msg = (char *)(inbuffer + offset-1);
+      offset += length_msg;
+      uint32_t length_file;
+      memcpy(&length_file, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_file; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_file-1]=0;
+      this->file = (char *)(inbuffer + offset-1);
+      offset += length_file;
+      uint32_t length_function;
+      memcpy(&length_function, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_function; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_function-1]=0;
+      this->function = (char *)(inbuffer + offset-1);
+      offset += length_function;
+      this->line =  ((uint32_t) (*(inbuffer + offset)));
+      this->line |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->line |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->line |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->line);
+      uint8_t topics_lengthT = *(inbuffer + offset++);
+      if(topics_lengthT > topics_length)
+        this->topics = (char**)realloc(this->topics, topics_lengthT * sizeof(char*));
+      offset += 3;
+      topics_length = topics_lengthT;
+      for( uint8_t i = 0; i < topics_length; i++){
+      uint32_t length_st_topics;
+      memcpy(&length_st_topics, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_topics; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_topics-1]=0;
+      this->st_topics = (char *)(inbuffer + offset-1);
+      offset += length_st_topics;
+        memcpy( &(this->topics[i]), &(this->st_topics), sizeof(char*));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "rosgraph_msgs/Log"; };
+    const char * getMD5(){ return "acffd30cd6b6de30f120938c17c593fb"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 rosgraph_msgs/TopicStatistics.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rosgraph_msgs/TopicStatistics.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,333 @@
+#ifndef _ROS_rosgraph_msgs_TopicStatistics_h
+#define _ROS_rosgraph_msgs_TopicStatistics_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/time.h"
+#include "ros/duration.h"
+
+namespace rosgraph_msgs
+{
+
+  class TopicStatistics : public ros::Msg
+  {
+    public:
+      const char* topic;
+      const char* node_pub;
+      const char* node_sub;
+      ros::Time window_start;
+      ros::Time window_stop;
+      int32_t delivered_msgs;
+      int32_t dropped_msgs;
+      int32_t traffic;
+      ros::Duration period_mean;
+      ros::Duration period_stddev;
+      ros::Duration period_max;
+      ros::Duration stamp_age_mean;
+      ros::Duration stamp_age_stddev;
+      ros::Duration stamp_age_max;
+
+    TopicStatistics():
+      topic(""),
+      node_pub(""),
+      node_sub(""),
+      window_start(),
+      window_stop(),
+      delivered_msgs(0),
+      dropped_msgs(0),
+      traffic(0),
+      period_mean(),
+      period_stddev(),
+      period_max(),
+      stamp_age_mean(),
+      stamp_age_stddev(),
+      stamp_age_max()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_topic = strlen(this->topic);
+      memcpy(outbuffer + offset, &length_topic, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->topic, length_topic);
+      offset += length_topic;
+      uint32_t length_node_pub = strlen(this->node_pub);
+      memcpy(outbuffer + offset, &length_node_pub, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->node_pub, length_node_pub);
+      offset += length_node_pub;
+      uint32_t length_node_sub = strlen(this->node_sub);
+      memcpy(outbuffer + offset, &length_node_sub, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->node_sub, length_node_sub);
+      offset += length_node_sub;
+      *(outbuffer + offset + 0) = (this->window_start.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->window_start.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->window_start.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->window_start.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->window_start.sec);
+      *(outbuffer + offset + 0) = (this->window_start.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->window_start.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->window_start.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->window_start.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->window_start.nsec);
+      *(outbuffer + offset + 0) = (this->window_stop.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->window_stop.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->window_stop.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->window_stop.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->window_stop.sec);
+      *(outbuffer + offset + 0) = (this->window_stop.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->window_stop.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->window_stop.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->window_stop.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->window_stop.nsec);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_delivered_msgs;
+      u_delivered_msgs.real = this->delivered_msgs;
+      *(outbuffer + offset + 0) = (u_delivered_msgs.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_delivered_msgs.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_delivered_msgs.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_delivered_msgs.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->delivered_msgs);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_dropped_msgs;
+      u_dropped_msgs.real = this->dropped_msgs;
+      *(outbuffer + offset + 0) = (u_dropped_msgs.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_dropped_msgs.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_dropped_msgs.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_dropped_msgs.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->dropped_msgs);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_traffic;
+      u_traffic.real = this->traffic;
+      *(outbuffer + offset + 0) = (u_traffic.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_traffic.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_traffic.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_traffic.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->traffic);
+      *(outbuffer + offset + 0) = (this->period_mean.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->period_mean.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->period_mean.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->period_mean.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->period_mean.sec);
+      *(outbuffer + offset + 0) = (this->period_mean.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->period_mean.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->period_mean.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->period_mean.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->period_mean.nsec);
+      *(outbuffer + offset + 0) = (this->period_stddev.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->period_stddev.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->period_stddev.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->period_stddev.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->period_stddev.sec);
+      *(outbuffer + offset + 0) = (this->period_stddev.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->period_stddev.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->period_stddev.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->period_stddev.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->period_stddev.nsec);
+      *(outbuffer + offset + 0) = (this->period_max.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->period_max.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->period_max.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->period_max.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->period_max.sec);
+      *(outbuffer + offset + 0) = (this->period_max.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->period_max.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->period_max.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->period_max.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->period_max.nsec);
+      *(outbuffer + offset + 0) = (this->stamp_age_mean.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp_age_mean.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp_age_mean.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp_age_mean.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp_age_mean.sec);
+      *(outbuffer + offset + 0) = (this->stamp_age_mean.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp_age_mean.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp_age_mean.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp_age_mean.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp_age_mean.nsec);
+      *(outbuffer + offset + 0) = (this->stamp_age_stddev.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp_age_stddev.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp_age_stddev.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp_age_stddev.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp_age_stddev.sec);
+      *(outbuffer + offset + 0) = (this->stamp_age_stddev.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp_age_stddev.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp_age_stddev.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp_age_stddev.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp_age_stddev.nsec);
+      *(outbuffer + offset + 0) = (this->stamp_age_max.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp_age_max.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp_age_max.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp_age_max.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp_age_max.sec);
+      *(outbuffer + offset + 0) = (this->stamp_age_max.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp_age_max.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp_age_max.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp_age_max.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp_age_max.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_topic;
+      memcpy(&length_topic, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_topic; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_topic-1]=0;
+      this->topic = (char *)(inbuffer + offset-1);
+      offset += length_topic;
+      uint32_t length_node_pub;
+      memcpy(&length_node_pub, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_node_pub; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_node_pub-1]=0;
+      this->node_pub = (char *)(inbuffer + offset-1);
+      offset += length_node_pub;
+      uint32_t length_node_sub;
+      memcpy(&length_node_sub, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_node_sub; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_node_sub-1]=0;
+      this->node_sub = (char *)(inbuffer + offset-1);
+      offset += length_node_sub;
+      this->window_start.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->window_start.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->window_start.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->window_start.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->window_start.sec);
+      this->window_start.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->window_start.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->window_start.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->window_start.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->window_start.nsec);
+      this->window_stop.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->window_stop.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->window_stop.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->window_stop.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->window_stop.sec);
+      this->window_stop.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->window_stop.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->window_stop.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->window_stop.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->window_stop.nsec);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_delivered_msgs;
+      u_delivered_msgs.base = 0;
+      u_delivered_msgs.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_delivered_msgs.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_delivered_msgs.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_delivered_msgs.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->delivered_msgs = u_delivered_msgs.real;
+      offset += sizeof(this->delivered_msgs);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_dropped_msgs;
+      u_dropped_msgs.base = 0;
+      u_dropped_msgs.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_dropped_msgs.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_dropped_msgs.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_dropped_msgs.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->dropped_msgs = u_dropped_msgs.real;
+      offset += sizeof(this->dropped_msgs);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_traffic;
+      u_traffic.base = 0;
+      u_traffic.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_traffic.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_traffic.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_traffic.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->traffic = u_traffic.real;
+      offset += sizeof(this->traffic);
+      this->period_mean.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->period_mean.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->period_mean.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->period_mean.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->period_mean.sec);
+      this->period_mean.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->period_mean.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->period_mean.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->period_mean.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->period_mean.nsec);
+      this->period_stddev.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->period_stddev.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->period_stddev.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->period_stddev.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->period_stddev.sec);
+      this->period_stddev.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->period_stddev.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->period_stddev.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->period_stddev.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->period_stddev.nsec);
+      this->period_max.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->period_max.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->period_max.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->period_max.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->period_max.sec);
+      this->period_max.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->period_max.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->period_max.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->period_max.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->period_max.nsec);
+      this->stamp_age_mean.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp_age_mean.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp_age_mean.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp_age_mean.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp_age_mean.sec);
+      this->stamp_age_mean.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp_age_mean.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp_age_mean.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp_age_mean.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp_age_mean.nsec);
+      this->stamp_age_stddev.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp_age_stddev.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp_age_stddev.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp_age_stddev.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp_age_stddev.sec);
+      this->stamp_age_stddev.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp_age_stddev.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp_age_stddev.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp_age_stddev.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp_age_stddev.nsec);
+      this->stamp_age_max.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp_age_max.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp_age_max.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp_age_max.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp_age_max.sec);
+      this->stamp_age_max.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp_age_max.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp_age_max.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp_age_max.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp_age_max.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return "rosgraph_msgs/TopicStatistics"; };
+    const char * getMD5(){ return "10152ed868c5097a5e2e4a89d7daa710"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 rospy_tutorials/AddTwoInts.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rospy_tutorials/AddTwoInts.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,163 @@
+#ifndef _ROS_SERVICE_AddTwoInts_h
+#define _ROS_SERVICE_AddTwoInts_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace rospy_tutorials
+{
+
+static const char ADDTWOINTS[] = "rospy_tutorials/AddTwoInts";
+
+  class AddTwoIntsRequest : public ros::Msg
+  {
+    public:
+      int64_t a;
+      int64_t b;
+
+    AddTwoIntsRequest():
+      a(0),
+      b(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_a;
+      u_a.real = this->a;
+      *(outbuffer + offset + 0) = (u_a.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_a.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_a.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_a.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_a.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_a.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_a.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_a.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->a);
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_b;
+      u_b.real = this->b;
+      *(outbuffer + offset + 0) = (u_b.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_b.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_b.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_b.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_b.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_b.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_b.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_b.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->b);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_a;
+      u_a.base = 0;
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->a = u_a.real;
+      offset += sizeof(this->a);
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_b;
+      u_b.base = 0;
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_b.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->b = u_b.real;
+      offset += sizeof(this->b);
+     return offset;
+    }
+
+    const char * getType(){ return ADDTWOINTS; };
+    const char * getMD5(){ return "36d09b846be0b371c5f190354dd3153e"; };
+
+  };
+
+  class AddTwoIntsResponse : public ros::Msg
+  {
+    public:
+      int64_t sum;
+
+    AddTwoIntsResponse():
+      sum(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_sum;
+      u_sum.real = this->sum;
+      *(outbuffer + offset + 0) = (u_sum.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_sum.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_sum.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_sum.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_sum.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_sum.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_sum.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_sum.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->sum);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_sum;
+      u_sum.base = 0;
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_sum.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->sum = u_sum.real;
+      offset += sizeof(this->sum);
+     return offset;
+    }
+
+    const char * getType(){ return ADDTWOINTS; };
+    const char * getMD5(){ return "b88405221c77b1878a3cbbfff53428d7"; };
+
+  };
+
+  class AddTwoInts {
+    public:
+    typedef AddTwoIntsRequest Request;
+    typedef AddTwoIntsResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 rospy_tutorials/BadTwoInts.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rospy_tutorials/BadTwoInts.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,147 @@
+#ifndef _ROS_SERVICE_BadTwoInts_h
+#define _ROS_SERVICE_BadTwoInts_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace rospy_tutorials
+{
+
+static const char BADTWOINTS[] = "rospy_tutorials/BadTwoInts";
+
+  class BadTwoIntsRequest : public ros::Msg
+  {
+    public:
+      int64_t a;
+      int32_t b;
+
+    BadTwoIntsRequest():
+      a(0),
+      b(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_a;
+      u_a.real = this->a;
+      *(outbuffer + offset + 0) = (u_a.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_a.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_a.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_a.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_a.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_a.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_a.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_a.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->a);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_b;
+      u_b.real = this->b;
+      *(outbuffer + offset + 0) = (u_b.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_b.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_b.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_b.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->b);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_a;
+      u_a.base = 0;
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_a.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->a = u_a.real;
+      offset += sizeof(this->a);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_b;
+      u_b.base = 0;
+      u_b.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_b.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_b.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_b.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->b = u_b.real;
+      offset += sizeof(this->b);
+     return offset;
+    }
+
+    const char * getType(){ return BADTWOINTS; };
+    const char * getMD5(){ return "29bb5c7dea8bf822f53e94b0ee5a3a56"; };
+
+  };
+
+  class BadTwoIntsResponse : public ros::Msg
+  {
+    public:
+      int32_t sum;
+
+    BadTwoIntsResponse():
+      sum(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_sum;
+      u_sum.real = this->sum;
+      *(outbuffer + offset + 0) = (u_sum.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_sum.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_sum.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_sum.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->sum);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_sum;
+      u_sum.base = 0;
+      u_sum.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_sum.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_sum.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_sum.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->sum = u_sum.real;
+      offset += sizeof(this->sum);
+     return offset;
+    }
+
+    const char * getType(){ return BADTWOINTS; };
+    const char * getMD5(){ return "0ba699c25c9418c0366f3595c0c8e8ec"; };
+
+  };
+
+  class BadTwoInts {
+    public:
+    typedef BadTwoIntsRequest Request;
+    typedef BadTwoIntsResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 rospy_tutorials/Floats.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rospy_tutorials/Floats.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,77 @@
+#ifndef _ROS_rospy_tutorials_Floats_h
+#define _ROS_rospy_tutorials_Floats_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace rospy_tutorials
+{
+
+  class Floats : public ros::Msg
+  {
+    public:
+      uint8_t data_length;
+      float st_data;
+      float * data;
+
+    Floats():
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = data_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < data_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_datai;
+      u_datai.real = this->data[i];
+      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t data_lengthT = *(inbuffer + offset++);
+      if(data_lengthT > data_length)
+        this->data = (float*)realloc(this->data, data_lengthT * sizeof(float));
+      offset += 3;
+      data_length = data_lengthT;
+      for( uint8_t i = 0; i < data_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_st_data;
+      u_st_data.base = 0;
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_data = u_st_data.real;
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(float));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "rospy_tutorials/Floats"; };
+    const char * getMD5(){ return "420cd38b6b071cd49f2970c3e2cee511"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 rospy_tutorials/HeaderString.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rospy_tutorials/HeaderString.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,59 @@
+#ifndef _ROS_rospy_tutorials_HeaderString_h
+#define _ROS_rospy_tutorials_HeaderString_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace rospy_tutorials
+{
+
+  class HeaderString : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      const char* data;
+
+    HeaderString():
+      header(),
+      data("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      uint32_t length_data = strlen(this->data);
+      memcpy(outbuffer + offset, &length_data, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->data, length_data);
+      offset += length_data;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t length_data;
+      memcpy(&length_data, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_data; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_data-1]=0;
+      this->data = (char *)(inbuffer + offset-1);
+      offset += length_data;
+     return offset;
+    }
+
+    const char * getType(){ return "rospy_tutorials/HeaderString"; };
+    const char * getMD5(){ return "c99a9440709e4d4a9716d55b8270d5e7"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 rosserial_arduino/Adc.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rosserial_arduino/Adc.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,86 @@
+#ifndef _ROS_rosserial_arduino_Adc_h
+#define _ROS_rosserial_arduino_Adc_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace rosserial_arduino
+{
+
+  class Adc : public ros::Msg
+  {
+    public:
+      uint16_t adc0;
+      uint16_t adc1;
+      uint16_t adc2;
+      uint16_t adc3;
+      uint16_t adc4;
+      uint16_t adc5;
+
+    Adc():
+      adc0(0),
+      adc1(0),
+      adc2(0),
+      adc3(0),
+      adc4(0),
+      adc5(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->adc0 >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->adc0 >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->adc0);
+      *(outbuffer + offset + 0) = (this->adc1 >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->adc1 >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->adc1);
+      *(outbuffer + offset + 0) = (this->adc2 >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->adc2 >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->adc2);
+      *(outbuffer + offset + 0) = (this->adc3 >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->adc3 >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->adc3);
+      *(outbuffer + offset + 0) = (this->adc4 >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->adc4 >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->adc4);
+      *(outbuffer + offset + 0) = (this->adc5 >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->adc5 >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->adc5);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->adc0 =  ((uint16_t) (*(inbuffer + offset)));
+      this->adc0 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->adc0);
+      this->adc1 =  ((uint16_t) (*(inbuffer + offset)));
+      this->adc1 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->adc1);
+      this->adc2 =  ((uint16_t) (*(inbuffer + offset)));
+      this->adc2 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->adc2);
+      this->adc3 =  ((uint16_t) (*(inbuffer + offset)));
+      this->adc3 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->adc3);
+      this->adc4 =  ((uint16_t) (*(inbuffer + offset)));
+      this->adc4 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->adc4);
+      this->adc5 =  ((uint16_t) (*(inbuffer + offset)));
+      this->adc5 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->adc5);
+     return offset;
+    }
+
+    const char * getType(){ return "rosserial_arduino/Adc"; };
+    const char * getMD5(){ return "6d7853a614e2e821319068311f2af25b"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 rosserial_arduino/Test.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rosserial_arduino/Test.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,102 @@
+#ifndef _ROS_SERVICE_Test_h
+#define _ROS_SERVICE_Test_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace rosserial_arduino
+{
+
+static const char TEST[] = "rosserial_arduino/Test";
+
+  class TestRequest : public ros::Msg
+  {
+    public:
+      const char* input;
+
+    TestRequest():
+      input("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_input = strlen(this->input);
+      memcpy(outbuffer + offset, &length_input, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->input, length_input);
+      offset += length_input;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_input;
+      memcpy(&length_input, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_input; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_input-1]=0;
+      this->input = (char *)(inbuffer + offset-1);
+      offset += length_input;
+     return offset;
+    }
+
+    const char * getType(){ return TEST; };
+    const char * getMD5(){ return "39e92f1778057359c64c7b8a7d7b19de"; };
+
+  };
+
+  class TestResponse : public ros::Msg
+  {
+    public:
+      const char* output;
+
+    TestResponse():
+      output("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_output = strlen(this->output);
+      memcpy(outbuffer + offset, &length_output, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->output, length_output);
+      offset += length_output;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_output;
+      memcpy(&length_output, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_output; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_output-1]=0;
+      this->output = (char *)(inbuffer + offset-1);
+      offset += length_output;
+     return offset;
+    }
+
+    const char * getType(){ return TEST; };
+    const char * getMD5(){ return "0825d95fdfa2c8f4bbb4e9c74bccd3fd"; };
+
+  };
+
+  class Test {
+    public:
+    typedef TestRequest Request;
+    typedef TestResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 rosserial_mbed/Adc.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rosserial_mbed/Adc.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,86 @@
+#ifndef _ROS_rosserial_mbed_Adc_h
+#define _ROS_rosserial_mbed_Adc_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace rosserial_mbed
+{
+
+  class Adc : public ros::Msg
+  {
+    public:
+      uint16_t adc0;
+      uint16_t adc1;
+      uint16_t adc2;
+      uint16_t adc3;
+      uint16_t adc4;
+      uint16_t adc5;
+
+    Adc():
+      adc0(0),
+      adc1(0),
+      adc2(0),
+      adc3(0),
+      adc4(0),
+      adc5(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->adc0 >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->adc0 >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->adc0);
+      *(outbuffer + offset + 0) = (this->adc1 >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->adc1 >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->adc1);
+      *(outbuffer + offset + 0) = (this->adc2 >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->adc2 >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->adc2);
+      *(outbuffer + offset + 0) = (this->adc3 >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->adc3 >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->adc3);
+      *(outbuffer + offset + 0) = (this->adc4 >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->adc4 >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->adc4);
+      *(outbuffer + offset + 0) = (this->adc5 >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->adc5 >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->adc5);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->adc0 =  ((uint16_t) (*(inbuffer + offset)));
+      this->adc0 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->adc0);
+      this->adc1 =  ((uint16_t) (*(inbuffer + offset)));
+      this->adc1 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->adc1);
+      this->adc2 =  ((uint16_t) (*(inbuffer + offset)));
+      this->adc2 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->adc2);
+      this->adc3 =  ((uint16_t) (*(inbuffer + offset)));
+      this->adc3 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->adc3);
+      this->adc4 =  ((uint16_t) (*(inbuffer + offset)));
+      this->adc4 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->adc4);
+      this->adc5 =  ((uint16_t) (*(inbuffer + offset)));
+      this->adc5 |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->adc5);
+     return offset;
+    }
+
+    const char * getType(){ return "rosserial_mbed/Adc"; };
+    const char * getMD5(){ return "6d7853a614e2e821319068311f2af25b"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 rosserial_mbed/Test.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rosserial_mbed/Test.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,102 @@
+#ifndef _ROS_SERVICE_Test_h
+#define _ROS_SERVICE_Test_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace rosserial_mbed
+{
+
+static const char TEST[] = "rosserial_mbed/Test";
+
+  class TestRequest : public ros::Msg
+  {
+    public:
+      const char* input;
+
+    TestRequest():
+      input("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_input = strlen(this->input);
+      memcpy(outbuffer + offset, &length_input, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->input, length_input);
+      offset += length_input;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_input;
+      memcpy(&length_input, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_input; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_input-1]=0;
+      this->input = (char *)(inbuffer + offset-1);
+      offset += length_input;
+     return offset;
+    }
+
+    const char * getType(){ return TEST; };
+    const char * getMD5(){ return "39e92f1778057359c64c7b8a7d7b19de"; };
+
+  };
+
+  class TestResponse : public ros::Msg
+  {
+    public:
+      const char* output;
+
+    TestResponse():
+      output("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_output = strlen(this->output);
+      memcpy(outbuffer + offset, &length_output, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->output, length_output);
+      offset += length_output;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_output;
+      memcpy(&length_output, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_output; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_output-1]=0;
+      this->output = (char *)(inbuffer + offset-1);
+      offset += length_output;
+     return offset;
+    }
+
+    const char * getType(){ return TEST; };
+    const char * getMD5(){ return "0825d95fdfa2c8f4bbb4e9c74bccd3fd"; };
+
+  };
+
+  class Test {
+    public:
+    typedef TestRequest Request;
+    typedef TestResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 rosserial_msgs/Log.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rosserial_msgs/Log.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,65 @@
+#ifndef _ROS_rosserial_msgs_Log_h
+#define _ROS_rosserial_msgs_Log_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace rosserial_msgs
+{
+
+  class Log : public ros::Msg
+  {
+    public:
+      uint8_t level;
+      const char* msg;
+      enum { ROSDEBUG = 0 };
+      enum { INFO = 1 };
+      enum { WARN = 2 };
+      enum { ERROR = 3 };
+      enum { FATAL = 4 };
+
+    Log():
+      level(0),
+      msg("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->level >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->level);
+      uint32_t length_msg = strlen(this->msg);
+      memcpy(outbuffer + offset, &length_msg, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->msg, length_msg);
+      offset += length_msg;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->level =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->level);
+      uint32_t length_msg;
+      memcpy(&length_msg, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_msg; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_msg-1]=0;
+      this->msg = (char *)(inbuffer + offset-1);
+      offset += length_msg;
+     return offset;
+    }
+
+    const char * getType(){ return "rosserial_msgs/Log"; };
+    const char * getMD5(){ return "11abd731c25933261cd6183bd12d6295"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 rosserial_msgs/RequestMessageInfo.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rosserial_msgs/RequestMessageInfo.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,118 @@
+#ifndef _ROS_SERVICE_RequestMessageInfo_h
+#define _ROS_SERVICE_RequestMessageInfo_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace rosserial_msgs
+{
+
+static const char REQUESTMESSAGEINFO[] = "rosserial_msgs/RequestMessageInfo";
+
+  class RequestMessageInfoRequest : public ros::Msg
+  {
+    public:
+      const char* type;
+
+    RequestMessageInfoRequest():
+      type("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_type = strlen(this->type);
+      memcpy(outbuffer + offset, &length_type, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->type, length_type);
+      offset += length_type;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_type;
+      memcpy(&length_type, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_type; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_type-1]=0;
+      this->type = (char *)(inbuffer + offset-1);
+      offset += length_type;
+     return offset;
+    }
+
+    const char * getType(){ return REQUESTMESSAGEINFO; };
+    const char * getMD5(){ return "dc67331de85cf97091b7d45e5c64ab75"; };
+
+  };
+
+  class RequestMessageInfoResponse : public ros::Msg
+  {
+    public:
+      const char* md5;
+      const char* definition;
+
+    RequestMessageInfoResponse():
+      md5(""),
+      definition("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_md5 = strlen(this->md5);
+      memcpy(outbuffer + offset, &length_md5, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->md5, length_md5);
+      offset += length_md5;
+      uint32_t length_definition = strlen(this->definition);
+      memcpy(outbuffer + offset, &length_definition, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->definition, length_definition);
+      offset += length_definition;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_md5;
+      memcpy(&length_md5, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_md5; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_md5-1]=0;
+      this->md5 = (char *)(inbuffer + offset-1);
+      offset += length_md5;
+      uint32_t length_definition;
+      memcpy(&length_definition, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_definition; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_definition-1]=0;
+      this->definition = (char *)(inbuffer + offset-1);
+      offset += length_definition;
+     return offset;
+    }
+
+    const char * getType(){ return REQUESTMESSAGEINFO; };
+    const char * getMD5(){ return "fe452186a069bed40f09b8628fe5eac8"; };
+
+  };
+
+  class RequestMessageInfo {
+    public:
+    typedef RequestMessageInfoRequest Request;
+    typedef RequestMessageInfoResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 rosserial_msgs/RequestParam.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rosserial_msgs/RequestParam.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,196 @@
+#ifndef _ROS_SERVICE_RequestParam_h
+#define _ROS_SERVICE_RequestParam_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace rosserial_msgs
+{
+
+static const char REQUESTPARAM[] = "rosserial_msgs/RequestParam";
+
+  class RequestParamRequest : public ros::Msg
+  {
+    public:
+      const char* name;
+
+    RequestParamRequest():
+      name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+     return offset;
+    }
+
+    const char * getType(){ return REQUESTPARAM; };
+    const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; };
+
+  };
+
+  class RequestParamResponse : public ros::Msg
+  {
+    public:
+      uint8_t ints_length;
+      int32_t st_ints;
+      int32_t * ints;
+      uint8_t floats_length;
+      float st_floats;
+      float * floats;
+      uint8_t strings_length;
+      char* st_strings;
+      char* * strings;
+
+    RequestParamResponse():
+      ints_length(0), ints(NULL),
+      floats_length(0), floats(NULL),
+      strings_length(0), strings(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = ints_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < ints_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_intsi;
+      u_intsi.real = this->ints[i];
+      *(outbuffer + offset + 0) = (u_intsi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_intsi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_intsi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_intsi.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->ints[i]);
+      }
+      *(outbuffer + offset++) = floats_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < floats_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_floatsi;
+      u_floatsi.real = this->floats[i];
+      *(outbuffer + offset + 0) = (u_floatsi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_floatsi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_floatsi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_floatsi.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->floats[i]);
+      }
+      *(outbuffer + offset++) = strings_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < strings_length; i++){
+      uint32_t length_stringsi = strlen(this->strings[i]);
+      memcpy(outbuffer + offset, &length_stringsi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->strings[i], length_stringsi);
+      offset += length_stringsi;
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t ints_lengthT = *(inbuffer + offset++);
+      if(ints_lengthT > ints_length)
+        this->ints = (int32_t*)realloc(this->ints, ints_lengthT * sizeof(int32_t));
+      offset += 3;
+      ints_length = ints_lengthT;
+      for( uint8_t i = 0; i < ints_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_st_ints;
+      u_st_ints.base = 0;
+      u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_ints.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_ints = u_st_ints.real;
+      offset += sizeof(this->st_ints);
+        memcpy( &(this->ints[i]), &(this->st_ints), sizeof(int32_t));
+      }
+      uint8_t floats_lengthT = *(inbuffer + offset++);
+      if(floats_lengthT > floats_length)
+        this->floats = (float*)realloc(this->floats, floats_lengthT * sizeof(float));
+      offset += 3;
+      floats_length = floats_lengthT;
+      for( uint8_t i = 0; i < floats_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_st_floats;
+      u_st_floats.base = 0;
+      u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_floats.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_floats = u_st_floats.real;
+      offset += sizeof(this->st_floats);
+        memcpy( &(this->floats[i]), &(this->st_floats), sizeof(float));
+      }
+      uint8_t strings_lengthT = *(inbuffer + offset++);
+      if(strings_lengthT > strings_length)
+        this->strings = (char**)realloc(this->strings, strings_lengthT * sizeof(char*));
+      offset += 3;
+      strings_length = strings_lengthT;
+      for( uint8_t i = 0; i < strings_length; i++){
+      uint32_t length_st_strings;
+      memcpy(&length_st_strings, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_strings; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_strings-1]=0;
+      this->st_strings = (char *)(inbuffer + offset-1);
+      offset += length_st_strings;
+        memcpy( &(this->strings[i]), &(this->st_strings), sizeof(char*));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return REQUESTPARAM; };
+    const char * getMD5(){ return "9f0e98bda65981986ddf53afa7a40e49"; };
+
+  };
+
+  class RequestParam {
+    public:
+    typedef RequestParamRequest Request;
+    typedef RequestParamResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 rosserial_msgs/RequestServiceInfo.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rosserial_msgs/RequestServiceInfo.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,134 @@
+#ifndef _ROS_SERVICE_RequestServiceInfo_h
+#define _ROS_SERVICE_RequestServiceInfo_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace rosserial_msgs
+{
+
+static const char REQUESTSERVICEINFO[] = "rosserial_msgs/RequestServiceInfo";
+
+  class RequestServiceInfoRequest : public ros::Msg
+  {
+    public:
+      const char* service;
+
+    RequestServiceInfoRequest():
+      service("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_service = strlen(this->service);
+      memcpy(outbuffer + offset, &length_service, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->service, length_service);
+      offset += length_service;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_service;
+      memcpy(&length_service, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_service; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_service-1]=0;
+      this->service = (char *)(inbuffer + offset-1);
+      offset += length_service;
+     return offset;
+    }
+
+    const char * getType(){ return REQUESTSERVICEINFO; };
+    const char * getMD5(){ return "1cbcfa13b08f6d36710b9af8741e6112"; };
+
+  };
+
+  class RequestServiceInfoResponse : public ros::Msg
+  {
+    public:
+      const char* service_md5;
+      const char* request_md5;
+      const char* response_md5;
+
+    RequestServiceInfoResponse():
+      service_md5(""),
+      request_md5(""),
+      response_md5("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_service_md5 = strlen(this->service_md5);
+      memcpy(outbuffer + offset, &length_service_md5, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->service_md5, length_service_md5);
+      offset += length_service_md5;
+      uint32_t length_request_md5 = strlen(this->request_md5);
+      memcpy(outbuffer + offset, &length_request_md5, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->request_md5, length_request_md5);
+      offset += length_request_md5;
+      uint32_t length_response_md5 = strlen(this->response_md5);
+      memcpy(outbuffer + offset, &length_response_md5, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->response_md5, length_response_md5);
+      offset += length_response_md5;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_service_md5;
+      memcpy(&length_service_md5, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_service_md5; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_service_md5-1]=0;
+      this->service_md5 = (char *)(inbuffer + offset-1);
+      offset += length_service_md5;
+      uint32_t length_request_md5;
+      memcpy(&length_request_md5, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_request_md5; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_request_md5-1]=0;
+      this->request_md5 = (char *)(inbuffer + offset-1);
+      offset += length_request_md5;
+      uint32_t length_response_md5;
+      memcpy(&length_response_md5, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_response_md5; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_response_md5-1]=0;
+      this->response_md5 = (char *)(inbuffer + offset-1);
+      offset += length_response_md5;
+     return offset;
+    }
+
+    const char * getType(){ return REQUESTSERVICEINFO; };
+    const char * getMD5(){ return "c3d6dd25b909596479fbbc6559fa6874"; };
+
+  };
+
+  class RequestServiceInfo {
+    public:
+    typedef RequestServiceInfoRequest Request;
+    typedef RequestServiceInfoResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 rosserial_msgs/TopicInfo.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/rosserial_msgs/TopicInfo.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,125 @@
+#ifndef _ROS_rosserial_msgs_TopicInfo_h
+#define _ROS_rosserial_msgs_TopicInfo_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace rosserial_msgs
+{
+
+  class TopicInfo : public ros::Msg
+  {
+    public:
+      uint16_t topic_id;
+      const char* topic_name;
+      const char* message_type;
+      const char* md5sum;
+      int32_t buffer_size;
+      enum { ID_PUBLISHER = 0 };
+      enum { ID_SUBSCRIBER = 1 };
+      enum { ID_SERVICE_SERVER = 2 };
+      enum { ID_SERVICE_CLIENT = 4 };
+      enum { ID_PARAMETER_REQUEST = 6 };
+      enum { ID_LOG = 7 };
+      enum { ID_TIME = 10 };
+      enum { ID_TX_STOP = 11 };
+
+    TopicInfo():
+      topic_id(0),
+      topic_name(""),
+      message_type(""),
+      md5sum(""),
+      buffer_size(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->topic_id >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->topic_id >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->topic_id);
+      uint32_t length_topic_name = strlen(this->topic_name);
+      memcpy(outbuffer + offset, &length_topic_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->topic_name, length_topic_name);
+      offset += length_topic_name;
+      uint32_t length_message_type = strlen(this->message_type);
+      memcpy(outbuffer + offset, &length_message_type, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->message_type, length_message_type);
+      offset += length_message_type;
+      uint32_t length_md5sum = strlen(this->md5sum);
+      memcpy(outbuffer + offset, &length_md5sum, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->md5sum, length_md5sum);
+      offset += length_md5sum;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_buffer_size;
+      u_buffer_size.real = this->buffer_size;
+      *(outbuffer + offset + 0) = (u_buffer_size.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_buffer_size.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_buffer_size.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_buffer_size.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->buffer_size);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->topic_id =  ((uint16_t) (*(inbuffer + offset)));
+      this->topic_id |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->topic_id);
+      uint32_t length_topic_name;
+      memcpy(&length_topic_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_topic_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_topic_name-1]=0;
+      this->topic_name = (char *)(inbuffer + offset-1);
+      offset += length_topic_name;
+      uint32_t length_message_type;
+      memcpy(&length_message_type, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_message_type; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_message_type-1]=0;
+      this->message_type = (char *)(inbuffer + offset-1);
+      offset += length_message_type;
+      uint32_t length_md5sum;
+      memcpy(&length_md5sum, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_md5sum; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_md5sum-1]=0;
+      this->md5sum = (char *)(inbuffer + offset-1);
+      offset += length_md5sum;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_buffer_size;
+      u_buffer_size.base = 0;
+      u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_buffer_size.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->buffer_size = u_buffer_size.real;
+      offset += sizeof(this->buffer_size);
+     return offset;
+    }
+
+    const char * getType(){ return "rosserial_msgs/TopicInfo"; };
+    const char * getMD5(){ return "0ad51f88fc44892f8c10684077646005"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 sensor_msgs/CameraInfo.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/CameraInfo.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,264 @@
+#ifndef _ROS_sensor_msgs_CameraInfo_h
+#define _ROS_sensor_msgs_CameraInfo_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "sensor_msgs/RegionOfInterest.h"
+
+namespace sensor_msgs
+{
+
+  class CameraInfo : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint32_t height;
+      uint32_t width;
+      const char* distortion_model;
+      uint8_t D_length;
+      double st_D;
+      double * D;
+      double K[9];
+      double R[9];
+      double P[12];
+      uint32_t binning_x;
+      uint32_t binning_y;
+      sensor_msgs::RegionOfInterest roi;
+
+    CameraInfo():
+      header(),
+      height(0),
+      width(0),
+      distortion_model(""),
+      D_length(0), D(NULL),
+      K(),
+      R(),
+      P(),
+      binning_x(0),
+      binning_y(0),
+      roi()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->height);
+      *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->width);
+      uint32_t length_distortion_model = strlen(this->distortion_model);
+      memcpy(outbuffer + offset, &length_distortion_model, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->distortion_model, length_distortion_model);
+      offset += length_distortion_model;
+      *(outbuffer + offset++) = D_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < D_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_Di;
+      u_Di.real = this->D[i];
+      *(outbuffer + offset + 0) = (u_Di.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_Di.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_Di.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_Di.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_Di.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_Di.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_Di.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_Di.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->D[i]);
+      }
+      for( uint8_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_Ki;
+      u_Ki.real = this->K[i];
+      *(outbuffer + offset + 0) = (u_Ki.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_Ki.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_Ki.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_Ki.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_Ki.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_Ki.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_Ki.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_Ki.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->K[i]);
+      }
+      for( uint8_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_Ri;
+      u_Ri.real = this->R[i];
+      *(outbuffer + offset + 0) = (u_Ri.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_Ri.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_Ri.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_Ri.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_Ri.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_Ri.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_Ri.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_Ri.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->R[i]);
+      }
+      for( uint8_t i = 0; i < 12; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_Pi;
+      u_Pi.real = this->P[i];
+      *(outbuffer + offset + 0) = (u_Pi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_Pi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_Pi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_Pi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_Pi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_Pi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_Pi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_Pi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->P[i]);
+      }
+      *(outbuffer + offset + 0) = (this->binning_x >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->binning_x >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->binning_x >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->binning_x >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->binning_x);
+      *(outbuffer + offset + 0) = (this->binning_y >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->binning_y >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->binning_y >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->binning_y >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->binning_y);
+      offset += this->roi.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      this->height =  ((uint32_t) (*(inbuffer + offset)));
+      this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->height);
+      this->width =  ((uint32_t) (*(inbuffer + offset)));
+      this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->width);
+      uint32_t length_distortion_model;
+      memcpy(&length_distortion_model, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_distortion_model; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_distortion_model-1]=0;
+      this->distortion_model = (char *)(inbuffer + offset-1);
+      offset += length_distortion_model;
+      uint8_t D_lengthT = *(inbuffer + offset++);
+      if(D_lengthT > D_length)
+        this->D = (double*)realloc(this->D, D_lengthT * sizeof(double));
+      offset += 3;
+      D_length = D_lengthT;
+      for( uint8_t i = 0; i < D_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_D;
+      u_st_D.base = 0;
+      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_D.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_D = u_st_D.real;
+      offset += sizeof(this->st_D);
+        memcpy( &(this->D[i]), &(this->st_D), sizeof(double));
+      }
+      for( uint8_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_Ki;
+      u_Ki.base = 0;
+      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_Ki.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->K[i] = u_Ki.real;
+      offset += sizeof(this->K[i]);
+      }
+      for( uint8_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_Ri;
+      u_Ri.base = 0;
+      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_Ri.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->R[i] = u_Ri.real;
+      offset += sizeof(this->R[i]);
+      }
+      for( uint8_t i = 0; i < 12; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_Pi;
+      u_Pi.base = 0;
+      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_Pi.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->P[i] = u_Pi.real;
+      offset += sizeof(this->P[i]);
+      }
+      this->binning_x =  ((uint32_t) (*(inbuffer + offset)));
+      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->binning_x |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->binning_x);
+      this->binning_y =  ((uint32_t) (*(inbuffer + offset)));
+      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->binning_y |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->binning_y);
+      offset += this->roi.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/CameraInfo"; };
+    const char * getMD5(){ return "c9a58c1b0b154e0e6da7578cb991d214"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 sensor_msgs/ChannelFloat32.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/ChannelFloat32.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,93 @@
+#ifndef _ROS_sensor_msgs_ChannelFloat32_h
+#define _ROS_sensor_msgs_ChannelFloat32_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace sensor_msgs
+{
+
+  class ChannelFloat32 : public ros::Msg
+  {
+    public:
+      const char* name;
+      uint8_t values_length;
+      float st_values;
+      float * values;
+
+    ChannelFloat32():
+      name(""),
+      values_length(0), values(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      *(outbuffer + offset++) = values_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < values_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_valuesi;
+      u_valuesi.real = this->values[i];
+      *(outbuffer + offset + 0) = (u_valuesi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_valuesi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_valuesi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_valuesi.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->values[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      uint8_t values_lengthT = *(inbuffer + offset++);
+      if(values_lengthT > values_length)
+        this->values = (float*)realloc(this->values, values_lengthT * sizeof(float));
+      offset += 3;
+      values_length = values_lengthT;
+      for( uint8_t i = 0; i < values_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_st_values;
+      u_st_values.base = 0;
+      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_values.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_values = u_st_values.real;
+      offset += sizeof(this->st_values);
+        memcpy( &(this->values[i]), &(this->st_values), sizeof(float));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/ChannelFloat32"; };
+    const char * getMD5(){ return "3d40139cdd33dfedcb71ffeeeb42ae7f"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 sensor_msgs/CompressedImage.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/CompressedImage.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,81 @@
+#ifndef _ROS_sensor_msgs_CompressedImage_h
+#define _ROS_sensor_msgs_CompressedImage_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class CompressedImage : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      const char* format;
+      uint8_t data_length;
+      uint8_t st_data;
+      uint8_t * data;
+
+    CompressedImage():
+      header(),
+      format(""),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      uint32_t length_format = strlen(this->format);
+      memcpy(outbuffer + offset, &length_format, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->format, length_format);
+      offset += length_format;
+      *(outbuffer + offset++) = data_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < data_length; i++){
+      *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t length_format;
+      memcpy(&length_format, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_format; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_format-1]=0;
+      this->format = (char *)(inbuffer + offset-1);
+      offset += length_format;
+      uint8_t data_lengthT = *(inbuffer + offset++);
+      if(data_lengthT > data_length)
+        this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
+      offset += 3;
+      data_length = data_lengthT;
+      for( uint8_t i = 0; i < data_length; i++){
+      this->st_data =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/CompressedImage"; };
+    const char * getMD5(){ return "8f7a12909da2c9d3332d540a0977563f"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 sensor_msgs/FluidPressure.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/FluidPressure.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,105 @@
+#ifndef _ROS_sensor_msgs_FluidPressure_h
+#define _ROS_sensor_msgs_FluidPressure_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class FluidPressure : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      double fluid_pressure;
+      double variance;
+
+    FluidPressure():
+      header(),
+      fluid_pressure(0),
+      variance(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_fluid_pressure;
+      u_fluid_pressure.real = this->fluid_pressure;
+      *(outbuffer + offset + 0) = (u_fluid_pressure.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_fluid_pressure.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_fluid_pressure.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_fluid_pressure.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_fluid_pressure.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_fluid_pressure.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_fluid_pressure.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_fluid_pressure.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->fluid_pressure);
+      union {
+        double real;
+        uint64_t base;
+      } u_variance;
+      u_variance.real = this->variance;
+      *(outbuffer + offset + 0) = (u_variance.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_variance.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_variance.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_variance.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_variance.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_variance.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_variance.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_variance.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->variance);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_fluid_pressure;
+      u_fluid_pressure.base = 0;
+      u_fluid_pressure.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_fluid_pressure.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_fluid_pressure.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_fluid_pressure.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_fluid_pressure.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_fluid_pressure.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_fluid_pressure.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_fluid_pressure.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->fluid_pressure = u_fluid_pressure.real;
+      offset += sizeof(this->fluid_pressure);
+      union {
+        double real;
+        uint64_t base;
+      } u_variance;
+      u_variance.base = 0;
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->variance = u_variance.real;
+      offset += sizeof(this->variance);
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/FluidPressure"; };
+    const char * getMD5(){ return "804dc5cea1c5306d6a2eb80b9833befe"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 sensor_msgs/Illuminance.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/Illuminance.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,105 @@
+#ifndef _ROS_sensor_msgs_Illuminance_h
+#define _ROS_sensor_msgs_Illuminance_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class Illuminance : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      double illuminance;
+      double variance;
+
+    Illuminance():
+      header(),
+      illuminance(0),
+      variance(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_illuminance;
+      u_illuminance.real = this->illuminance;
+      *(outbuffer + offset + 0) = (u_illuminance.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_illuminance.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_illuminance.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_illuminance.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_illuminance.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_illuminance.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_illuminance.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_illuminance.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->illuminance);
+      union {
+        double real;
+        uint64_t base;
+      } u_variance;
+      u_variance.real = this->variance;
+      *(outbuffer + offset + 0) = (u_variance.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_variance.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_variance.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_variance.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_variance.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_variance.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_variance.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_variance.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->variance);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_illuminance;
+      u_illuminance.base = 0;
+      u_illuminance.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_illuminance.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_illuminance.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_illuminance.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_illuminance.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_illuminance.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_illuminance.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_illuminance.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->illuminance = u_illuminance.real;
+      offset += sizeof(this->illuminance);
+      union {
+        double real;
+        uint64_t base;
+      } u_variance;
+      u_variance.base = 0;
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->variance = u_variance.real;
+      offset += sizeof(this->variance);
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/Illuminance"; };
+    const char * getMD5(){ return "8cf5febb0952fca9d650c3d11a81a188"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 sensor_msgs/Image.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/Image.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,123 @@
+#ifndef _ROS_sensor_msgs_Image_h
+#define _ROS_sensor_msgs_Image_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class Image : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint32_t height;
+      uint32_t width;
+      const char* encoding;
+      uint8_t is_bigendian;
+      uint32_t step;
+      uint8_t data_length;
+      uint8_t st_data;
+      uint8_t * data;
+
+    Image():
+      header(),
+      height(0),
+      width(0),
+      encoding(""),
+      is_bigendian(0),
+      step(0),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->height);
+      *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->width);
+      uint32_t length_encoding = strlen(this->encoding);
+      memcpy(outbuffer + offset, &length_encoding, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->encoding, length_encoding);
+      offset += length_encoding;
+      *(outbuffer + offset + 0) = (this->is_bigendian >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->is_bigendian);
+      *(outbuffer + offset + 0) = (this->step >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->step >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->step >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->step >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->step);
+      *(outbuffer + offset++) = data_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < data_length; i++){
+      *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      this->height =  ((uint32_t) (*(inbuffer + offset)));
+      this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->height);
+      this->width =  ((uint32_t) (*(inbuffer + offset)));
+      this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->width);
+      uint32_t length_encoding;
+      memcpy(&length_encoding, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_encoding; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_encoding-1]=0;
+      this->encoding = (char *)(inbuffer + offset-1);
+      offset += length_encoding;
+      this->is_bigendian =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->is_bigendian);
+      this->step =  ((uint32_t) (*(inbuffer + offset)));
+      this->step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->step);
+      uint8_t data_lengthT = *(inbuffer + offset++);
+      if(data_lengthT > data_length)
+        this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
+      offset += 3;
+      data_length = data_lengthT;
+      for( uint8_t i = 0; i < data_length; i++){
+      this->st_data =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/Image"; };
+    const char * getMD5(){ return "060021388200f6f0f447d0fcd9c64743"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 sensor_msgs/Imu.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/Imu.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,162 @@
+#ifndef _ROS_sensor_msgs_Imu_h
+#define _ROS_sensor_msgs_Imu_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Quaternion.h"
+#include "geometry_msgs/Vector3.h"
+
+namespace sensor_msgs
+{
+
+  class Imu : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      geometry_msgs::Quaternion orientation;
+      double orientation_covariance[9];
+      geometry_msgs::Vector3 angular_velocity;
+      double angular_velocity_covariance[9];
+      geometry_msgs::Vector3 linear_acceleration;
+      double linear_acceleration_covariance[9];
+
+    Imu():
+      header(),
+      orientation(),
+      orientation_covariance(),
+      angular_velocity(),
+      angular_velocity_covariance(),
+      linear_acceleration(),
+      linear_acceleration_covariance()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->orientation.serialize(outbuffer + offset);
+      for( uint8_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_orientation_covariancei;
+      u_orientation_covariancei.real = this->orientation_covariance[i];
+      *(outbuffer + offset + 0) = (u_orientation_covariancei.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_orientation_covariancei.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_orientation_covariancei.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_orientation_covariancei.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_orientation_covariancei.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_orientation_covariancei.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_orientation_covariancei.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_orientation_covariancei.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->orientation_covariance[i]);
+      }
+      offset += this->angular_velocity.serialize(outbuffer + offset);
+      for( uint8_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_angular_velocity_covariancei;
+      u_angular_velocity_covariancei.real = this->angular_velocity_covariance[i];
+      *(outbuffer + offset + 0) = (u_angular_velocity_covariancei.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angular_velocity_covariancei.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angular_velocity_covariancei.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angular_velocity_covariancei.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_angular_velocity_covariancei.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_angular_velocity_covariancei.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_angular_velocity_covariancei.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_angular_velocity_covariancei.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->angular_velocity_covariance[i]);
+      }
+      offset += this->linear_acceleration.serialize(outbuffer + offset);
+      for( uint8_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_linear_acceleration_covariancei;
+      u_linear_acceleration_covariancei.real = this->linear_acceleration_covariance[i];
+      *(outbuffer + offset + 0) = (u_linear_acceleration_covariancei.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_linear_acceleration_covariancei.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_linear_acceleration_covariancei.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_linear_acceleration_covariancei.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_linear_acceleration_covariancei.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_linear_acceleration_covariancei.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_linear_acceleration_covariancei.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_linear_acceleration_covariancei.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->linear_acceleration_covariance[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->orientation.deserialize(inbuffer + offset);
+      for( uint8_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_orientation_covariancei;
+      u_orientation_covariancei.base = 0;
+      u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_orientation_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->orientation_covariance[i] = u_orientation_covariancei.real;
+      offset += sizeof(this->orientation_covariance[i]);
+      }
+      offset += this->angular_velocity.deserialize(inbuffer + offset);
+      for( uint8_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_angular_velocity_covariancei;
+      u_angular_velocity_covariancei.base = 0;
+      u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_angular_velocity_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->angular_velocity_covariance[i] = u_angular_velocity_covariancei.real;
+      offset += sizeof(this->angular_velocity_covariance[i]);
+      }
+      offset += this->linear_acceleration.deserialize(inbuffer + offset);
+      for( uint8_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_linear_acceleration_covariancei;
+      u_linear_acceleration_covariancei.base = 0;
+      u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_linear_acceleration_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->linear_acceleration_covariance[i] = u_linear_acceleration_covariancei.real;
+      offset += sizeof(this->linear_acceleration_covariance[i]);
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/Imu"; };
+    const char * getMD5(){ return "6a62c6daae103f4ff57a132d6f95cec2"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 sensor_msgs/JointState.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/JointState.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,216 @@
+#ifndef _ROS_sensor_msgs_JointState_h
+#define _ROS_sensor_msgs_JointState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class JointState : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t name_length;
+      char* st_name;
+      char* * name;
+      uint8_t position_length;
+      double st_position;
+      double * position;
+      uint8_t velocity_length;
+      double st_velocity;
+      double * velocity;
+      uint8_t effort_length;
+      double st_effort;
+      double * effort;
+
+    JointState():
+      header(),
+      name_length(0), name(NULL),
+      position_length(0), position(NULL),
+      velocity_length(0), velocity(NULL),
+      effort_length(0), effort(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = name_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < name_length; i++){
+      uint32_t length_namei = strlen(this->name[i]);
+      memcpy(outbuffer + offset, &length_namei, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name[i], length_namei);
+      offset += length_namei;
+      }
+      *(outbuffer + offset++) = position_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < position_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_positioni;
+      u_positioni.real = this->position[i];
+      *(outbuffer + offset + 0) = (u_positioni.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_positioni.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_positioni.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_positioni.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_positioni.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_positioni.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_positioni.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_positioni.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->position[i]);
+      }
+      *(outbuffer + offset++) = velocity_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < velocity_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_velocityi;
+      u_velocityi.real = this->velocity[i];
+      *(outbuffer + offset + 0) = (u_velocityi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_velocityi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_velocityi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_velocityi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_velocityi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_velocityi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_velocityi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_velocityi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->velocity[i]);
+      }
+      *(outbuffer + offset++) = effort_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < effort_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_efforti;
+      u_efforti.real = this->effort[i];
+      *(outbuffer + offset + 0) = (u_efforti.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_efforti.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_efforti.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_efforti.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_efforti.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_efforti.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_efforti.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_efforti.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->effort[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t name_lengthT = *(inbuffer + offset++);
+      if(name_lengthT > name_length)
+        this->name = (char**)realloc(this->name, name_lengthT * sizeof(char*));
+      offset += 3;
+      name_length = name_lengthT;
+      for( uint8_t i = 0; i < name_length; i++){
+      uint32_t length_st_name;
+      memcpy(&length_st_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_name-1]=0;
+      this->st_name = (char *)(inbuffer + offset-1);
+      offset += length_st_name;
+        memcpy( &(this->name[i]), &(this->st_name), sizeof(char*));
+      }
+      uint8_t position_lengthT = *(inbuffer + offset++);
+      if(position_lengthT > position_length)
+        this->position = (double*)realloc(this->position, position_lengthT * sizeof(double));
+      offset += 3;
+      position_length = position_lengthT;
+      for( uint8_t i = 0; i < position_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_position;
+      u_st_position.base = 0;
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_position.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_position = u_st_position.real;
+      offset += sizeof(this->st_position);
+        memcpy( &(this->position[i]), &(this->st_position), sizeof(double));
+      }
+      uint8_t velocity_lengthT = *(inbuffer + offset++);
+      if(velocity_lengthT > velocity_length)
+        this->velocity = (double*)realloc(this->velocity, velocity_lengthT * sizeof(double));
+      offset += 3;
+      velocity_length = velocity_lengthT;
+      for( uint8_t i = 0; i < velocity_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_velocity;
+      u_st_velocity.base = 0;
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_velocity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_velocity = u_st_velocity.real;
+      offset += sizeof(this->st_velocity);
+        memcpy( &(this->velocity[i]), &(this->st_velocity), sizeof(double));
+      }
+      uint8_t effort_lengthT = *(inbuffer + offset++);
+      if(effort_lengthT > effort_length)
+        this->effort = (double*)realloc(this->effort, effort_lengthT * sizeof(double));
+      offset += 3;
+      effort_length = effort_lengthT;
+      for( uint8_t i = 0; i < effort_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_effort;
+      u_st_effort.base = 0;
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_effort = u_st_effort.real;
+      offset += sizeof(this->st_effort);
+        memcpy( &(this->effort[i]), &(this->st_effort), sizeof(double));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/JointState"; };
+    const char * getMD5(){ return "3066dcd76a6cfaef579bd0f34173e9fd"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 sensor_msgs/Joy.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/Joy.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,121 @@
+#ifndef _ROS_sensor_msgs_Joy_h
+#define _ROS_sensor_msgs_Joy_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class Joy : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t axes_length;
+      float st_axes;
+      float * axes;
+      uint8_t buttons_length;
+      int32_t st_buttons;
+      int32_t * buttons;
+
+    Joy():
+      header(),
+      axes_length(0), axes(NULL),
+      buttons_length(0), buttons(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = axes_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < axes_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_axesi;
+      u_axesi.real = this->axes[i];
+      *(outbuffer + offset + 0) = (u_axesi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_axesi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_axesi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_axesi.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->axes[i]);
+      }
+      *(outbuffer + offset++) = buttons_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < buttons_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_buttonsi;
+      u_buttonsi.real = this->buttons[i];
+      *(outbuffer + offset + 0) = (u_buttonsi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_buttonsi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_buttonsi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_buttonsi.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->buttons[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t axes_lengthT = *(inbuffer + offset++);
+      if(axes_lengthT > axes_length)
+        this->axes = (float*)realloc(this->axes, axes_lengthT * sizeof(float));
+      offset += 3;
+      axes_length = axes_lengthT;
+      for( uint8_t i = 0; i < axes_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_st_axes;
+      u_st_axes.base = 0;
+      u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_axes.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_axes = u_st_axes.real;
+      offset += sizeof(this->st_axes);
+        memcpy( &(this->axes[i]), &(this->st_axes), sizeof(float));
+      }
+      uint8_t buttons_lengthT = *(inbuffer + offset++);
+      if(buttons_lengthT > buttons_length)
+        this->buttons = (int32_t*)realloc(this->buttons, buttons_lengthT * sizeof(int32_t));
+      offset += 3;
+      buttons_length = buttons_lengthT;
+      for( uint8_t i = 0; i < buttons_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_st_buttons;
+      u_st_buttons.base = 0;
+      u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_buttons.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_buttons = u_st_buttons.real;
+      offset += sizeof(this->st_buttons);
+        memcpy( &(this->buttons[i]), &(this->st_buttons), sizeof(int32_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/Joy"; };
+    const char * getMD5(){ return "5a9ea5f83505693b71e785041e67a8bb"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 sensor_msgs/JoyFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/JoyFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,76 @@
+#ifndef _ROS_sensor_msgs_JoyFeedback_h
+#define _ROS_sensor_msgs_JoyFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace sensor_msgs
+{
+
+  class JoyFeedback : public ros::Msg
+  {
+    public:
+      uint8_t type;
+      uint8_t id;
+      float intensity;
+      enum { TYPE_LED =  0 };
+      enum { TYPE_RUMBLE =  1 };
+      enum { TYPE_BUZZER =  2 };
+
+    JoyFeedback():
+      type(0),
+      id(0),
+      intensity(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->type);
+      *(outbuffer + offset + 0) = (this->id >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->id);
+      union {
+        float real;
+        uint32_t base;
+      } u_intensity;
+      u_intensity.real = this->intensity;
+      *(outbuffer + offset + 0) = (u_intensity.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_intensity.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_intensity.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_intensity.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->intensity);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->type =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->type);
+      this->id =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->id);
+      union {
+        float real;
+        uint32_t base;
+      } u_intensity;
+      u_intensity.base = 0;
+      u_intensity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_intensity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_intensity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_intensity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->intensity = u_intensity.real;
+      offset += sizeof(this->intensity);
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/JoyFeedback"; };
+    const char * getMD5(){ return "f4dcd73460360d98f36e55ee7f2e46f1"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 sensor_msgs/JoyFeedbackArray.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/JoyFeedbackArray.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,59 @@
+#ifndef _ROS_sensor_msgs_JoyFeedbackArray_h
+#define _ROS_sensor_msgs_JoyFeedbackArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "sensor_msgs/JoyFeedback.h"
+
+namespace sensor_msgs
+{
+
+  class JoyFeedbackArray : public ros::Msg
+  {
+    public:
+      uint8_t array_length;
+      sensor_msgs::JoyFeedback st_array;
+      sensor_msgs::JoyFeedback * array;
+
+    JoyFeedbackArray():
+      array_length(0), array(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = array_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < array_length; i++){
+      offset += this->array[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t array_lengthT = *(inbuffer + offset++);
+      if(array_lengthT > array_length)
+        this->array = (sensor_msgs::JoyFeedback*)realloc(this->array, array_lengthT * sizeof(sensor_msgs::JoyFeedback));
+      offset += 3;
+      array_length = array_lengthT;
+      for( uint8_t i = 0; i < array_length; i++){
+      offset += this->st_array.deserialize(inbuffer + offset);
+        memcpy( &(this->array[i]), &(this->st_array), sizeof(sensor_msgs::JoyFeedback));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/JoyFeedbackArray"; };
+    const char * getMD5(){ return "cde5730a895b1fc4dee6f91b754b213d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 sensor_msgs/LaserEcho.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/LaserEcho.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,77 @@
+#ifndef _ROS_sensor_msgs_LaserEcho_h
+#define _ROS_sensor_msgs_LaserEcho_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace sensor_msgs
+{
+
+  class LaserEcho : public ros::Msg
+  {
+    public:
+      uint8_t echoes_length;
+      float st_echoes;
+      float * echoes;
+
+    LaserEcho():
+      echoes_length(0), echoes(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = echoes_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < echoes_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_echoesi;
+      u_echoesi.real = this->echoes[i];
+      *(outbuffer + offset + 0) = (u_echoesi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_echoesi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_echoesi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_echoesi.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->echoes[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t echoes_lengthT = *(inbuffer + offset++);
+      if(echoes_lengthT > echoes_length)
+        this->echoes = (float*)realloc(this->echoes, echoes_lengthT * sizeof(float));
+      offset += 3;
+      echoes_length = echoes_lengthT;
+      for( uint8_t i = 0; i < echoes_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_st_echoes;
+      u_st_echoes.base = 0;
+      u_st_echoes.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_echoes.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_echoes.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_echoes.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_echoes = u_st_echoes.real;
+      offset += sizeof(this->st_echoes);
+        memcpy( &(this->echoes[i]), &(this->st_echoes), sizeof(float));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/LaserEcho"; };
+    const char * getMD5(){ return "8bc5ae449b200fba4d552b4225586696"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 sensor_msgs/LaserScan.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/LaserScan.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,282 @@
+#ifndef _ROS_sensor_msgs_LaserScan_h
+#define _ROS_sensor_msgs_LaserScan_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class LaserScan : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      float angle_min;
+      float angle_max;
+      float angle_increment;
+      float time_increment;
+      float scan_time;
+      float range_min;
+      float range_max;
+      uint8_t ranges_length;
+      float st_ranges;
+      float * ranges;
+      uint8_t intensities_length;
+      float st_intensities;
+      float * intensities;
+
+    LaserScan():
+      header(),
+      angle_min(0),
+      angle_max(0),
+      angle_increment(0),
+      time_increment(0),
+      scan_time(0),
+      range_min(0),
+      range_max(0),
+      ranges_length(0), ranges(NULL),
+      intensities_length(0), intensities(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_min;
+      u_angle_min.real = this->angle_min;
+      *(outbuffer + offset + 0) = (u_angle_min.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angle_min.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angle_min.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angle_min.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->angle_min);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_max;
+      u_angle_max.real = this->angle_max;
+      *(outbuffer + offset + 0) = (u_angle_max.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angle_max.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angle_max.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angle_max.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->angle_max);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_increment;
+      u_angle_increment.real = this->angle_increment;
+      *(outbuffer + offset + 0) = (u_angle_increment.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angle_increment.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angle_increment.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angle_increment.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->angle_increment);
+      union {
+        float real;
+        uint32_t base;
+      } u_time_increment;
+      u_time_increment.real = this->time_increment;
+      *(outbuffer + offset + 0) = (u_time_increment.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_time_increment.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_time_increment.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_time_increment.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time_increment);
+      union {
+        float real;
+        uint32_t base;
+      } u_scan_time;
+      u_scan_time.real = this->scan_time;
+      *(outbuffer + offset + 0) = (u_scan_time.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_scan_time.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_scan_time.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_scan_time.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->scan_time);
+      union {
+        float real;
+        uint32_t base;
+      } u_range_min;
+      u_range_min.real = this->range_min;
+      *(outbuffer + offset + 0) = (u_range_min.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_range_min.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_range_min.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_range_min.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->range_min);
+      union {
+        float real;
+        uint32_t base;
+      } u_range_max;
+      u_range_max.real = this->range_max;
+      *(outbuffer + offset + 0) = (u_range_max.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_range_max.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_range_max.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_range_max.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->range_max);
+      *(outbuffer + offset++) = ranges_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < ranges_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_rangesi;
+      u_rangesi.real = this->ranges[i];
+      *(outbuffer + offset + 0) = (u_rangesi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_rangesi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_rangesi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_rangesi.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->ranges[i]);
+      }
+      *(outbuffer + offset++) = intensities_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < intensities_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_intensitiesi;
+      u_intensitiesi.real = this->intensities[i];
+      *(outbuffer + offset + 0) = (u_intensitiesi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_intensitiesi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_intensitiesi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_intensitiesi.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->intensities[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_min;
+      u_angle_min.base = 0;
+      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->angle_min = u_angle_min.real;
+      offset += sizeof(this->angle_min);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_max;
+      u_angle_max.base = 0;
+      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->angle_max = u_angle_max.real;
+      offset += sizeof(this->angle_max);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_increment;
+      u_angle_increment.base = 0;
+      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->angle_increment = u_angle_increment.real;
+      offset += sizeof(this->angle_increment);
+      union {
+        float real;
+        uint32_t base;
+      } u_time_increment;
+      u_time_increment.base = 0;
+      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->time_increment = u_time_increment.real;
+      offset += sizeof(this->time_increment);
+      union {
+        float real;
+        uint32_t base;
+      } u_scan_time;
+      u_scan_time.base = 0;
+      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->scan_time = u_scan_time.real;
+      offset += sizeof(this->scan_time);
+      union {
+        float real;
+        uint32_t base;
+      } u_range_min;
+      u_range_min.base = 0;
+      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->range_min = u_range_min.real;
+      offset += sizeof(this->range_min);
+      union {
+        float real;
+        uint32_t base;
+      } u_range_max;
+      u_range_max.base = 0;
+      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->range_max = u_range_max.real;
+      offset += sizeof(this->range_max);
+      uint8_t ranges_lengthT = *(inbuffer + offset++);
+      if(ranges_lengthT > ranges_length)
+        this->ranges = (float*)realloc(this->ranges, ranges_lengthT * sizeof(float));
+      offset += 3;
+      ranges_length = ranges_lengthT;
+      for( uint8_t i = 0; i < ranges_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_st_ranges;
+      u_st_ranges.base = 0;
+      u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_ranges.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_ranges = u_st_ranges.real;
+      offset += sizeof(this->st_ranges);
+        memcpy( &(this->ranges[i]), &(this->st_ranges), sizeof(float));
+      }
+      uint8_t intensities_lengthT = *(inbuffer + offset++);
+      if(intensities_lengthT > intensities_length)
+        this->intensities = (float*)realloc(this->intensities, intensities_lengthT * sizeof(float));
+      offset += 3;
+      intensities_length = intensities_lengthT;
+      for( uint8_t i = 0; i < intensities_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_st_intensities;
+      u_st_intensities.base = 0;
+      u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_intensities.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_intensities = u_st_intensities.real;
+      offset += sizeof(this->st_intensities);
+        memcpy( &(this->intensities[i]), &(this->st_intensities), sizeof(float));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/LaserScan"; };
+    const char * getMD5(){ return "90c7ef2dc6895d81024acba2ac42f369"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 sensor_msgs/MagneticField.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/MagneticField.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,83 @@
+#ifndef _ROS_sensor_msgs_MagneticField_h
+#define _ROS_sensor_msgs_MagneticField_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Vector3.h"
+
+namespace sensor_msgs
+{
+
+  class MagneticField : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      geometry_msgs::Vector3 magnetic_field;
+      double magnetic_field_covariance[9];
+
+    MagneticField():
+      header(),
+      magnetic_field(),
+      magnetic_field_covariance()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->magnetic_field.serialize(outbuffer + offset);
+      for( uint8_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_magnetic_field_covariancei;
+      u_magnetic_field_covariancei.real = this->magnetic_field_covariance[i];
+      *(outbuffer + offset + 0) = (u_magnetic_field_covariancei.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_magnetic_field_covariancei.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_magnetic_field_covariancei.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_magnetic_field_covariancei.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_magnetic_field_covariancei.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_magnetic_field_covariancei.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_magnetic_field_covariancei.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_magnetic_field_covariancei.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->magnetic_field_covariance[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->magnetic_field.deserialize(inbuffer + offset);
+      for( uint8_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_magnetic_field_covariancei;
+      u_magnetic_field_covariancei.base = 0;
+      u_magnetic_field_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_magnetic_field_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_magnetic_field_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_magnetic_field_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_magnetic_field_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_magnetic_field_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_magnetic_field_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_magnetic_field_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->magnetic_field_covariance[i] = u_magnetic_field_covariancei.real;
+      offset += sizeof(this->magnetic_field_covariance[i]);
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/MagneticField"; };
+    const char * getMD5(){ return "2f3b0b43eed0c9501de0fa3ff89a45aa"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 sensor_msgs/MultiDOFJointState.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/MultiDOFJointState.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,138 @@
+#ifndef _ROS_sensor_msgs_MultiDOFJointState_h
+#define _ROS_sensor_msgs_MultiDOFJointState_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Transform.h"
+#include "geometry_msgs/Twist.h"
+#include "geometry_msgs/Wrench.h"
+
+namespace sensor_msgs
+{
+
+  class MultiDOFJointState : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t joint_names_length;
+      char* st_joint_names;
+      char* * joint_names;
+      uint8_t transforms_length;
+      geometry_msgs::Transform st_transforms;
+      geometry_msgs::Transform * transforms;
+      uint8_t twist_length;
+      geometry_msgs::Twist st_twist;
+      geometry_msgs::Twist * twist;
+      uint8_t wrench_length;
+      geometry_msgs::Wrench st_wrench;
+      geometry_msgs::Wrench * wrench;
+
+    MultiDOFJointState():
+      header(),
+      joint_names_length(0), joint_names(NULL),
+      transforms_length(0), transforms(NULL),
+      twist_length(0), twist(NULL),
+      wrench_length(0), wrench(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = joint_names_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < joint_names_length; i++){
+      uint32_t length_joint_namesi = strlen(this->joint_names[i]);
+      memcpy(outbuffer + offset, &length_joint_namesi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
+      offset += length_joint_namesi;
+      }
+      *(outbuffer + offset++) = transforms_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < transforms_length; i++){
+      offset += this->transforms[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = twist_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < twist_length; i++){
+      offset += this->twist[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = wrench_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < wrench_length; i++){
+      offset += this->wrench[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t joint_names_lengthT = *(inbuffer + offset++);
+      if(joint_names_lengthT > joint_names_length)
+        this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
+      offset += 3;
+      joint_names_length = joint_names_lengthT;
+      for( uint8_t i = 0; i < joint_names_length; i++){
+      uint32_t length_st_joint_names;
+      memcpy(&length_st_joint_names, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_joint_names-1]=0;
+      this->st_joint_names = (char *)(inbuffer + offset-1);
+      offset += length_st_joint_names;
+        memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
+      }
+      uint8_t transforms_lengthT = *(inbuffer + offset++);
+      if(transforms_lengthT > transforms_length)
+        this->transforms = (geometry_msgs::Transform*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::Transform));
+      offset += 3;
+      transforms_length = transforms_lengthT;
+      for( uint8_t i = 0; i < transforms_length; i++){
+      offset += this->st_transforms.deserialize(inbuffer + offset);
+        memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::Transform));
+      }
+      uint8_t twist_lengthT = *(inbuffer + offset++);
+      if(twist_lengthT > twist_length)
+        this->twist = (geometry_msgs::Twist*)realloc(this->twist, twist_lengthT * sizeof(geometry_msgs::Twist));
+      offset += 3;
+      twist_length = twist_lengthT;
+      for( uint8_t i = 0; i < twist_length; i++){
+      offset += this->st_twist.deserialize(inbuffer + offset);
+        memcpy( &(this->twist[i]), &(this->st_twist), sizeof(geometry_msgs::Twist));
+      }
+      uint8_t wrench_lengthT = *(inbuffer + offset++);
+      if(wrench_lengthT > wrench_length)
+        this->wrench = (geometry_msgs::Wrench*)realloc(this->wrench, wrench_lengthT * sizeof(geometry_msgs::Wrench));
+      offset += 3;
+      wrench_length = wrench_lengthT;
+      for( uint8_t i = 0; i < wrench_length; i++){
+      offset += this->st_wrench.deserialize(inbuffer + offset);
+        memcpy( &(this->wrench[i]), &(this->st_wrench), sizeof(geometry_msgs::Wrench));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/MultiDOFJointState"; };
+    const char * getMD5(){ return "690f272f0640d2631c305eeb8301e59d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 sensor_msgs/MultiEchoLaserScan.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/MultiEchoLaserScan.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,245 @@
+#ifndef _ROS_sensor_msgs_MultiEchoLaserScan_h
+#define _ROS_sensor_msgs_MultiEchoLaserScan_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "sensor_msgs/LaserEcho.h"
+
+namespace sensor_msgs
+{
+
+  class MultiEchoLaserScan : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      float angle_min;
+      float angle_max;
+      float angle_increment;
+      float time_increment;
+      float scan_time;
+      float range_min;
+      float range_max;
+      uint8_t ranges_length;
+      sensor_msgs::LaserEcho st_ranges;
+      sensor_msgs::LaserEcho * ranges;
+      uint8_t intensities_length;
+      sensor_msgs::LaserEcho st_intensities;
+      sensor_msgs::LaserEcho * intensities;
+
+    MultiEchoLaserScan():
+      header(),
+      angle_min(0),
+      angle_max(0),
+      angle_increment(0),
+      time_increment(0),
+      scan_time(0),
+      range_min(0),
+      range_max(0),
+      ranges_length(0), ranges(NULL),
+      intensities_length(0), intensities(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_min;
+      u_angle_min.real = this->angle_min;
+      *(outbuffer + offset + 0) = (u_angle_min.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angle_min.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angle_min.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angle_min.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->angle_min);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_max;
+      u_angle_max.real = this->angle_max;
+      *(outbuffer + offset + 0) = (u_angle_max.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angle_max.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angle_max.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angle_max.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->angle_max);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_increment;
+      u_angle_increment.real = this->angle_increment;
+      *(outbuffer + offset + 0) = (u_angle_increment.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angle_increment.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angle_increment.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angle_increment.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->angle_increment);
+      union {
+        float real;
+        uint32_t base;
+      } u_time_increment;
+      u_time_increment.real = this->time_increment;
+      *(outbuffer + offset + 0) = (u_time_increment.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_time_increment.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_time_increment.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_time_increment.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time_increment);
+      union {
+        float real;
+        uint32_t base;
+      } u_scan_time;
+      u_scan_time.real = this->scan_time;
+      *(outbuffer + offset + 0) = (u_scan_time.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_scan_time.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_scan_time.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_scan_time.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->scan_time);
+      union {
+        float real;
+        uint32_t base;
+      } u_range_min;
+      u_range_min.real = this->range_min;
+      *(outbuffer + offset + 0) = (u_range_min.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_range_min.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_range_min.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_range_min.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->range_min);
+      union {
+        float real;
+        uint32_t base;
+      } u_range_max;
+      u_range_max.real = this->range_max;
+      *(outbuffer + offset + 0) = (u_range_max.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_range_max.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_range_max.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_range_max.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->range_max);
+      *(outbuffer + offset++) = ranges_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < ranges_length; i++){
+      offset += this->ranges[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = intensities_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < intensities_length; i++){
+      offset += this->intensities[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_min;
+      u_angle_min.base = 0;
+      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angle_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->angle_min = u_angle_min.real;
+      offset += sizeof(this->angle_min);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_max;
+      u_angle_max.base = 0;
+      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angle_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->angle_max = u_angle_max.real;
+      offset += sizeof(this->angle_max);
+      union {
+        float real;
+        uint32_t base;
+      } u_angle_increment;
+      u_angle_increment.base = 0;
+      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angle_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->angle_increment = u_angle_increment.real;
+      offset += sizeof(this->angle_increment);
+      union {
+        float real;
+        uint32_t base;
+      } u_time_increment;
+      u_time_increment.base = 0;
+      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_time_increment.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->time_increment = u_time_increment.real;
+      offset += sizeof(this->time_increment);
+      union {
+        float real;
+        uint32_t base;
+      } u_scan_time;
+      u_scan_time.base = 0;
+      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_scan_time.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->scan_time = u_scan_time.real;
+      offset += sizeof(this->scan_time);
+      union {
+        float real;
+        uint32_t base;
+      } u_range_min;
+      u_range_min.base = 0;
+      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_range_min.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->range_min = u_range_min.real;
+      offset += sizeof(this->range_min);
+      union {
+        float real;
+        uint32_t base;
+      } u_range_max;
+      u_range_max.base = 0;
+      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_range_max.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->range_max = u_range_max.real;
+      offset += sizeof(this->range_max);
+      uint8_t ranges_lengthT = *(inbuffer + offset++);
+      if(ranges_lengthT > ranges_length)
+        this->ranges = (sensor_msgs::LaserEcho*)realloc(this->ranges, ranges_lengthT * sizeof(sensor_msgs::LaserEcho));
+      offset += 3;
+      ranges_length = ranges_lengthT;
+      for( uint8_t i = 0; i < ranges_length; i++){
+      offset += this->st_ranges.deserialize(inbuffer + offset);
+        memcpy( &(this->ranges[i]), &(this->st_ranges), sizeof(sensor_msgs::LaserEcho));
+      }
+      uint8_t intensities_lengthT = *(inbuffer + offset++);
+      if(intensities_lengthT > intensities_length)
+        this->intensities = (sensor_msgs::LaserEcho*)realloc(this->intensities, intensities_lengthT * sizeof(sensor_msgs::LaserEcho));
+      offset += 3;
+      intensities_length = intensities_lengthT;
+      for( uint8_t i = 0; i < intensities_length; i++){
+      offset += this->st_intensities.deserialize(inbuffer + offset);
+        memcpy( &(this->intensities[i]), &(this->st_intensities), sizeof(sensor_msgs::LaserEcho));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/MultiEchoLaserScan"; };
+    const char * getMD5(){ return "6fefb0c6da89d7c8abe4b339f5c2f8fb"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 sensor_msgs/NavSatFix.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/NavSatFix.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,186 @@
+#ifndef _ROS_sensor_msgs_NavSatFix_h
+#define _ROS_sensor_msgs_NavSatFix_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "sensor_msgs/NavSatStatus.h"
+
+namespace sensor_msgs
+{
+
+  class NavSatFix : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      sensor_msgs::NavSatStatus status;
+      double latitude;
+      double longitude;
+      double altitude;
+      double position_covariance[9];
+      uint8_t position_covariance_type;
+      enum { COVARIANCE_TYPE_UNKNOWN =  0 };
+      enum { COVARIANCE_TYPE_APPROXIMATED =  1 };
+      enum { COVARIANCE_TYPE_DIAGONAL_KNOWN =  2 };
+      enum { COVARIANCE_TYPE_KNOWN =  3 };
+
+    NavSatFix():
+      header(),
+      status(),
+      latitude(0),
+      longitude(0),
+      altitude(0),
+      position_covariance(),
+      position_covariance_type(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_latitude;
+      u_latitude.real = this->latitude;
+      *(outbuffer + offset + 0) = (u_latitude.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_latitude.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_latitude.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_latitude.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_latitude.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_latitude.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_latitude.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_latitude.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->latitude);
+      union {
+        double real;
+        uint64_t base;
+      } u_longitude;
+      u_longitude.real = this->longitude;
+      *(outbuffer + offset + 0) = (u_longitude.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_longitude.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_longitude.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_longitude.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_longitude.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_longitude.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_longitude.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_longitude.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->longitude);
+      union {
+        double real;
+        uint64_t base;
+      } u_altitude;
+      u_altitude.real = this->altitude;
+      *(outbuffer + offset + 0) = (u_altitude.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_altitude.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_altitude.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_altitude.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_altitude.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_altitude.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_altitude.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_altitude.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->altitude);
+      for( uint8_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_position_covariancei;
+      u_position_covariancei.real = this->position_covariance[i];
+      *(outbuffer + offset + 0) = (u_position_covariancei.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_position_covariancei.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_position_covariancei.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_position_covariancei.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_position_covariancei.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_position_covariancei.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_position_covariancei.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_position_covariancei.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->position_covariance[i]);
+      }
+      *(outbuffer + offset + 0) = (this->position_covariance_type >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->position_covariance_type);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_latitude;
+      u_latitude.base = 0;
+      u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_latitude.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->latitude = u_latitude.real;
+      offset += sizeof(this->latitude);
+      union {
+        double real;
+        uint64_t base;
+      } u_longitude;
+      u_longitude.base = 0;
+      u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_longitude.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->longitude = u_longitude.real;
+      offset += sizeof(this->longitude);
+      union {
+        double real;
+        uint64_t base;
+      } u_altitude;
+      u_altitude.base = 0;
+      u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_altitude.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->altitude = u_altitude.real;
+      offset += sizeof(this->altitude);
+      for( uint8_t i = 0; i < 9; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_position_covariancei;
+      u_position_covariancei.base = 0;
+      u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_position_covariancei.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->position_covariance[i] = u_position_covariancei.real;
+      offset += sizeof(this->position_covariance[i]);
+      }
+      this->position_covariance_type =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->position_covariance_type);
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/NavSatFix"; };
+    const char * getMD5(){ return "2d3a8cd499b9b4a0249fb98fd05cfa48"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 sensor_msgs/NavSatStatus.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/NavSatStatus.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,71 @@
+#ifndef _ROS_sensor_msgs_NavSatStatus_h
+#define _ROS_sensor_msgs_NavSatStatus_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace sensor_msgs
+{
+
+  class NavSatStatus : public ros::Msg
+  {
+    public:
+      int8_t status;
+      uint16_t service;
+      enum { STATUS_NO_FIX =   -1         };
+      enum { STATUS_FIX =       0         };
+      enum { STATUS_SBAS_FIX =  1         };
+      enum { STATUS_GBAS_FIX =  2         };
+      enum { SERVICE_GPS =      1 };
+      enum { SERVICE_GLONASS =  2 };
+      enum { SERVICE_COMPASS =  4       };
+      enum { SERVICE_GALILEO =  8 };
+
+    NavSatStatus():
+      status(0),
+      service(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_status;
+      u_status.real = this->status;
+      *(outbuffer + offset + 0) = (u_status.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->status);
+      *(outbuffer + offset + 0) = (this->service >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->service >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->service);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_status;
+      u_status.base = 0;
+      u_status.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->status = u_status.real;
+      offset += sizeof(this->status);
+      this->service =  ((uint16_t) (*(inbuffer + offset)));
+      this->service |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->service);
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/NavSatStatus"; };
+    const char * getMD5(){ return "331cdbddfa4bc96ffc3b9ad98900a54c"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 sensor_msgs/PointCloud.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/PointCloud.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,85 @@
+#ifndef _ROS_sensor_msgs_PointCloud_h
+#define _ROS_sensor_msgs_PointCloud_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Point32.h"
+#include "sensor_msgs/ChannelFloat32.h"
+
+namespace sensor_msgs
+{
+
+  class PointCloud : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t points_length;
+      geometry_msgs::Point32 st_points;
+      geometry_msgs::Point32 * points;
+      uint8_t channels_length;
+      sensor_msgs::ChannelFloat32 st_channels;
+      sensor_msgs::ChannelFloat32 * channels;
+
+    PointCloud():
+      header(),
+      points_length(0), points(NULL),
+      channels_length(0), channels(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = points_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < points_length; i++){
+      offset += this->points[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = channels_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < channels_length; i++){
+      offset += this->channels[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t points_lengthT = *(inbuffer + offset++);
+      if(points_lengthT > points_length)
+        this->points = (geometry_msgs::Point32*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point32));
+      offset += 3;
+      points_length = points_lengthT;
+      for( uint8_t i = 0; i < points_length; i++){
+      offset += this->st_points.deserialize(inbuffer + offset);
+        memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point32));
+      }
+      uint8_t channels_lengthT = *(inbuffer + offset++);
+      if(channels_lengthT > channels_length)
+        this->channels = (sensor_msgs::ChannelFloat32*)realloc(this->channels, channels_lengthT * sizeof(sensor_msgs::ChannelFloat32));
+      offset += 3;
+      channels_length = channels_lengthT;
+      for( uint8_t i = 0; i < channels_length; i++){
+      offset += this->st_channels.deserialize(inbuffer + offset);
+        memcpy( &(this->channels[i]), &(this->st_channels), sizeof(sensor_msgs::ChannelFloat32));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/PointCloud"; };
+    const char * getMD5(){ return "d8e9c3f5afbdd8a130fd1d2763945fca"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 sensor_msgs/PointCloud2.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/PointCloud2.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,168 @@
+#ifndef _ROS_sensor_msgs_PointCloud2_h
+#define _ROS_sensor_msgs_PointCloud2_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "sensor_msgs/PointField.h"
+
+namespace sensor_msgs
+{
+
+  class PointCloud2 : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint32_t height;
+      uint32_t width;
+      uint8_t fields_length;
+      sensor_msgs::PointField st_fields;
+      sensor_msgs::PointField * fields;
+      bool is_bigendian;
+      uint32_t point_step;
+      uint32_t row_step;
+      uint8_t data_length;
+      uint8_t st_data;
+      uint8_t * data;
+      bool is_dense;
+
+    PointCloud2():
+      header(),
+      height(0),
+      width(0),
+      fields_length(0), fields(NULL),
+      is_bigendian(0),
+      point_step(0),
+      row_step(0),
+      data_length(0), data(NULL),
+      is_dense(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->height);
+      *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->width);
+      *(outbuffer + offset++) = fields_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < fields_length; i++){
+      offset += this->fields[i].serialize(outbuffer + offset);
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_bigendian;
+      u_is_bigendian.real = this->is_bigendian;
+      *(outbuffer + offset + 0) = (u_is_bigendian.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->is_bigendian);
+      *(outbuffer + offset + 0) = (this->point_step >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->point_step >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->point_step >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->point_step >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->point_step);
+      *(outbuffer + offset + 0) = (this->row_step >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->row_step >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->row_step >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->row_step >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->row_step);
+      *(outbuffer + offset++) = data_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < data_length; i++){
+      *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_dense;
+      u_is_dense.real = this->is_dense;
+      *(outbuffer + offset + 0) = (u_is_dense.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->is_dense);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      this->height =  ((uint32_t) (*(inbuffer + offset)));
+      this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->height);
+      this->width =  ((uint32_t) (*(inbuffer + offset)));
+      this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->width);
+      uint8_t fields_lengthT = *(inbuffer + offset++);
+      if(fields_lengthT > fields_length)
+        this->fields = (sensor_msgs::PointField*)realloc(this->fields, fields_lengthT * sizeof(sensor_msgs::PointField));
+      offset += 3;
+      fields_length = fields_lengthT;
+      for( uint8_t i = 0; i < fields_length; i++){
+      offset += this->st_fields.deserialize(inbuffer + offset);
+        memcpy( &(this->fields[i]), &(this->st_fields), sizeof(sensor_msgs::PointField));
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_bigendian;
+      u_is_bigendian.base = 0;
+      u_is_bigendian.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->is_bigendian = u_is_bigendian.real;
+      offset += sizeof(this->is_bigendian);
+      this->point_step =  ((uint32_t) (*(inbuffer + offset)));
+      this->point_step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->point_step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->point_step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->point_step);
+      this->row_step =  ((uint32_t) (*(inbuffer + offset)));
+      this->row_step |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->row_step |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->row_step |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->row_step);
+      uint8_t data_lengthT = *(inbuffer + offset++);
+      if(data_lengthT > data_length)
+        this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
+      offset += 3;
+      data_length = data_lengthT;
+      for( uint8_t i = 0; i < data_length; i++){
+      this->st_data =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_is_dense;
+      u_is_dense.base = 0;
+      u_is_dense.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->is_dense = u_is_dense.real;
+      offset += sizeof(this->is_dense);
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/PointCloud2"; };
+    const char * getMD5(){ return "1158d486dd51d683ce2f1be655c3c181"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 sensor_msgs/PointField.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/PointField.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,92 @@
+#ifndef _ROS_sensor_msgs_PointField_h
+#define _ROS_sensor_msgs_PointField_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace sensor_msgs
+{
+
+  class PointField : public ros::Msg
+  {
+    public:
+      const char* name;
+      uint32_t offset;
+      uint8_t datatype;
+      uint32_t count;
+      enum { INT8 =  1 };
+      enum { UINT8 =  2 };
+      enum { INT16 =  3 };
+      enum { UINT16 =  4 };
+      enum { INT32 =  5 };
+      enum { UINT32 =  6 };
+      enum { FLOAT32 =  7 };
+      enum { FLOAT64 =  8 };
+
+    PointField():
+      name(""),
+      offset(0),
+      datatype(0),
+      count(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      *(outbuffer + offset + 0) = (this->offset >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->offset >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->offset >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->offset >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->offset);
+      *(outbuffer + offset + 0) = (this->datatype >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->datatype);
+      *(outbuffer + offset + 0) = (this->count >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->count >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->count >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->count >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->count);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      this->offset =  ((uint32_t) (*(inbuffer + offset)));
+      this->offset |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->offset |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->offset |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->offset);
+      this->datatype =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->datatype);
+      this->count =  ((uint32_t) (*(inbuffer + offset)));
+      this->count |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->count |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->count |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->count);
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/PointField"; };
+    const char * getMD5(){ return "268eacb2962780ceac86cbd17e328150"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 sensor_msgs/Range.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/Range.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,143 @@
+#ifndef _ROS_sensor_msgs_Range_h
+#define _ROS_sensor_msgs_Range_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class Range : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t radiation_type;
+      float field_of_view;
+      float min_range;
+      float max_range;
+      float range;
+      enum { ULTRASOUND = 0 };
+      enum { INFRARED = 1 };
+
+    Range():
+      header(),
+      radiation_type(0),
+      field_of_view(0),
+      min_range(0),
+      max_range(0),
+      range(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->radiation_type >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->radiation_type);
+      union {
+        float real;
+        uint32_t base;
+      } u_field_of_view;
+      u_field_of_view.real = this->field_of_view;
+      *(outbuffer + offset + 0) = (u_field_of_view.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_field_of_view.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_field_of_view.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_field_of_view.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->field_of_view);
+      union {
+        float real;
+        uint32_t base;
+      } u_min_range;
+      u_min_range.real = this->min_range;
+      *(outbuffer + offset + 0) = (u_min_range.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_min_range.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_min_range.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_min_range.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->min_range);
+      union {
+        float real;
+        uint32_t base;
+      } u_max_range;
+      u_max_range.real = this->max_range;
+      *(outbuffer + offset + 0) = (u_max_range.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_max_range.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_max_range.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_max_range.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->max_range);
+      union {
+        float real;
+        uint32_t base;
+      } u_range;
+      u_range.real = this->range;
+      *(outbuffer + offset + 0) = (u_range.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_range.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_range.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_range.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->range);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      this->radiation_type =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->radiation_type);
+      union {
+        float real;
+        uint32_t base;
+      } u_field_of_view;
+      u_field_of_view.base = 0;
+      u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_field_of_view.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->field_of_view = u_field_of_view.real;
+      offset += sizeof(this->field_of_view);
+      union {
+        float real;
+        uint32_t base;
+      } u_min_range;
+      u_min_range.base = 0;
+      u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_min_range.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->min_range = u_min_range.real;
+      offset += sizeof(this->min_range);
+      union {
+        float real;
+        uint32_t base;
+      } u_max_range;
+      u_max_range.base = 0;
+      u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_max_range.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->max_range = u_max_range.real;
+      offset += sizeof(this->max_range);
+      union {
+        float real;
+        uint32_t base;
+      } u_range;
+      u_range.base = 0;
+      u_range.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_range.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_range.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_range.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->range = u_range.real;
+      offset += sizeof(this->range);
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/Range"; };
+    const char * getMD5(){ return "c005c34273dc426c67a020a87bc24148"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 sensor_msgs/RegionOfInterest.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/RegionOfInterest.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,103 @@
+#ifndef _ROS_sensor_msgs_RegionOfInterest_h
+#define _ROS_sensor_msgs_RegionOfInterest_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace sensor_msgs
+{
+
+  class RegionOfInterest : public ros::Msg
+  {
+    public:
+      uint32_t x_offset;
+      uint32_t y_offset;
+      uint32_t height;
+      uint32_t width;
+      bool do_rectify;
+
+    RegionOfInterest():
+      x_offset(0),
+      y_offset(0),
+      height(0),
+      width(0),
+      do_rectify(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->x_offset >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->x_offset >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->x_offset >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->x_offset >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->x_offset);
+      *(outbuffer + offset + 0) = (this->y_offset >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->y_offset >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->y_offset >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->y_offset >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->y_offset);
+      *(outbuffer + offset + 0) = (this->height >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->height >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->height >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->height >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->height);
+      *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->width >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->width >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->width >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->width);
+      union {
+        bool real;
+        uint8_t base;
+      } u_do_rectify;
+      u_do_rectify.real = this->do_rectify;
+      *(outbuffer + offset + 0) = (u_do_rectify.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->do_rectify);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->x_offset =  ((uint32_t) (*(inbuffer + offset)));
+      this->x_offset |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->x_offset |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->x_offset |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->x_offset);
+      this->y_offset =  ((uint32_t) (*(inbuffer + offset)));
+      this->y_offset |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->y_offset |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->y_offset |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->y_offset);
+      this->height =  ((uint32_t) (*(inbuffer + offset)));
+      this->height |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->height |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->height);
+      this->width =  ((uint32_t) (*(inbuffer + offset)));
+      this->width |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->width |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->width);
+      union {
+        bool real;
+        uint8_t base;
+      } u_do_rectify;
+      u_do_rectify.base = 0;
+      u_do_rectify.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->do_rectify = u_do_rectify.real;
+      offset += sizeof(this->do_rectify);
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/RegionOfInterest"; };
+    const char * getMD5(){ return "bdb633039d588fcccb441a4d43ccfe09"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 sensor_msgs/RelativeHumidity.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/RelativeHumidity.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,105 @@
+#ifndef _ROS_sensor_msgs_RelativeHumidity_h
+#define _ROS_sensor_msgs_RelativeHumidity_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class RelativeHumidity : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      double relative_humidity;
+      double variance;
+
+    RelativeHumidity():
+      header(),
+      relative_humidity(0),
+      variance(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_relative_humidity;
+      u_relative_humidity.real = this->relative_humidity;
+      *(outbuffer + offset + 0) = (u_relative_humidity.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_relative_humidity.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_relative_humidity.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_relative_humidity.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_relative_humidity.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_relative_humidity.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_relative_humidity.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_relative_humidity.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->relative_humidity);
+      union {
+        double real;
+        uint64_t base;
+      } u_variance;
+      u_variance.real = this->variance;
+      *(outbuffer + offset + 0) = (u_variance.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_variance.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_variance.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_variance.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_variance.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_variance.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_variance.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_variance.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->variance);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_relative_humidity;
+      u_relative_humidity.base = 0;
+      u_relative_humidity.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_relative_humidity.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_relative_humidity.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_relative_humidity.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_relative_humidity.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_relative_humidity.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_relative_humidity.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_relative_humidity.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->relative_humidity = u_relative_humidity.real;
+      offset += sizeof(this->relative_humidity);
+      union {
+        double real;
+        uint64_t base;
+      } u_variance;
+      u_variance.base = 0;
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->variance = u_variance.real;
+      offset += sizeof(this->variance);
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/RelativeHumidity"; };
+    const char * getMD5(){ return "8730015b05955b7e992ce29a2678d90f"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 sensor_msgs/SetCameraInfo.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/SetCameraInfo.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,108 @@
+#ifndef _ROS_SERVICE_SetCameraInfo_h
+#define _ROS_SERVICE_SetCameraInfo_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "sensor_msgs/CameraInfo.h"
+
+namespace sensor_msgs
+{
+
+static const char SETCAMERAINFO[] = "sensor_msgs/SetCameraInfo";
+
+  class SetCameraInfoRequest : public ros::Msg
+  {
+    public:
+      sensor_msgs::CameraInfo camera_info;
+
+    SetCameraInfoRequest():
+      camera_info()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->camera_info.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->camera_info.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return SETCAMERAINFO; };
+    const char * getMD5(){ return "ee34be01fdeee563d0d99cd594d5581d"; };
+
+  };
+
+  class SetCameraInfoResponse : public ros::Msg
+  {
+    public:
+      bool success;
+      const char* status_message;
+
+    SetCameraInfoResponse():
+      success(0),
+      status_message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_status_message = strlen(this->status_message);
+      memcpy(outbuffer + offset, &length_status_message, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->status_message, length_status_message);
+      offset += length_status_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_status_message;
+      memcpy(&length_status_message, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_status_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_status_message-1]=0;
+      this->status_message = (char *)(inbuffer + offset-1);
+      offset += length_status_message;
+     return offset;
+    }
+
+    const char * getType(){ return SETCAMERAINFO; };
+    const char * getMD5(){ return "2ec6f3eff0161f4257b808b12bc830c2"; };
+
+  };
+
+  class SetCameraInfo {
+    public:
+    typedef SetCameraInfoRequest Request;
+    typedef SetCameraInfoResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 sensor_msgs/Temperature.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/Temperature.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,105 @@
+#ifndef _ROS_sensor_msgs_Temperature_h
+#define _ROS_sensor_msgs_Temperature_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace sensor_msgs
+{
+
+  class Temperature : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      double temperature;
+      double variance;
+
+    Temperature():
+      header(),
+      temperature(0),
+      variance(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_temperature;
+      u_temperature.real = this->temperature;
+      *(outbuffer + offset + 0) = (u_temperature.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_temperature.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_temperature.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_temperature.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_temperature.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_temperature.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_temperature.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_temperature.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->temperature);
+      union {
+        double real;
+        uint64_t base;
+      } u_variance;
+      u_variance.real = this->variance;
+      *(outbuffer + offset + 0) = (u_variance.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_variance.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_variance.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_variance.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_variance.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_variance.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_variance.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_variance.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->variance);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      union {
+        double real;
+        uint64_t base;
+      } u_temperature;
+      u_temperature.base = 0;
+      u_temperature.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_temperature.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_temperature.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_temperature.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_temperature.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_temperature.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_temperature.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_temperature.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->temperature = u_temperature.real;
+      offset += sizeof(this->temperature);
+      union {
+        double real;
+        uint64_t base;
+      } u_variance;
+      u_variance.base = 0;
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_variance.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->variance = u_variance.real;
+      offset += sizeof(this->variance);
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/Temperature"; };
+    const char * getMD5(){ return "ff71b307acdbe7c871a5a6d7ed359100"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 sensor_msgs/TimeReference.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/sensor_msgs/TimeReference.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,82 @@
+#ifndef _ROS_sensor_msgs_TimeReference_h
+#define _ROS_sensor_msgs_TimeReference_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "ros/time.h"
+
+namespace sensor_msgs
+{
+
+  class TimeReference : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      ros::Time time_ref;
+      const char* source;
+
+    TimeReference():
+      header(),
+      time_ref(),
+      source("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->time_ref.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->time_ref.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->time_ref.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->time_ref.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time_ref.sec);
+      *(outbuffer + offset + 0) = (this->time_ref.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->time_ref.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->time_ref.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->time_ref.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time_ref.nsec);
+      uint32_t length_source = strlen(this->source);
+      memcpy(outbuffer + offset, &length_source, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->source, length_source);
+      offset += length_source;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      this->time_ref.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->time_ref.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->time_ref.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->time_ref.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->time_ref.sec);
+      this->time_ref.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->time_ref.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->time_ref.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->time_ref.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->time_ref.nsec);
+      uint32_t length_source;
+      memcpy(&length_source, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_source; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_source-1]=0;
+      this->source = (char *)(inbuffer + offset-1);
+      offset += length_source;
+     return offset;
+    }
+
+    const char * getType(){ return "sensor_msgs/TimeReference"; };
+    const char * getMD5(){ return "fded64a0265108ba86c3d38fb11c0c16"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 shape_msgs/Mesh.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/shape_msgs/Mesh.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,80 @@
+#ifndef _ROS_shape_msgs_Mesh_h
+#define _ROS_shape_msgs_Mesh_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "shape_msgs/MeshTriangle.h"
+#include "geometry_msgs/Point.h"
+
+namespace shape_msgs
+{
+
+  class Mesh : public ros::Msg
+  {
+    public:
+      uint8_t triangles_length;
+      shape_msgs::MeshTriangle st_triangles;
+      shape_msgs::MeshTriangle * triangles;
+      uint8_t vertices_length;
+      geometry_msgs::Point st_vertices;
+      geometry_msgs::Point * vertices;
+
+    Mesh():
+      triangles_length(0), triangles(NULL),
+      vertices_length(0), vertices(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = triangles_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < triangles_length; i++){
+      offset += this->triangles[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = vertices_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < vertices_length; i++){
+      offset += this->vertices[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t triangles_lengthT = *(inbuffer + offset++);
+      if(triangles_lengthT > triangles_length)
+        this->triangles = (shape_msgs::MeshTriangle*)realloc(this->triangles, triangles_lengthT * sizeof(shape_msgs::MeshTriangle));
+      offset += 3;
+      triangles_length = triangles_lengthT;
+      for( uint8_t i = 0; i < triangles_length; i++){
+      offset += this->st_triangles.deserialize(inbuffer + offset);
+        memcpy( &(this->triangles[i]), &(this->st_triangles), sizeof(shape_msgs::MeshTriangle));
+      }
+      uint8_t vertices_lengthT = *(inbuffer + offset++);
+      if(vertices_lengthT > vertices_length)
+        this->vertices = (geometry_msgs::Point*)realloc(this->vertices, vertices_lengthT * sizeof(geometry_msgs::Point));
+      offset += 3;
+      vertices_length = vertices_lengthT;
+      for( uint8_t i = 0; i < vertices_length; i++){
+      offset += this->st_vertices.deserialize(inbuffer + offset);
+        memcpy( &(this->vertices[i]), &(this->st_vertices), sizeof(geometry_msgs::Point));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "shape_msgs/Mesh"; };
+    const char * getMD5(){ return "1ffdae9486cd3316a121c578b47a85cc"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 shape_msgs/MeshTriangle.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/shape_msgs/MeshTriangle.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,54 @@
+#ifndef _ROS_shape_msgs_MeshTriangle_h
+#define _ROS_shape_msgs_MeshTriangle_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace shape_msgs
+{
+
+  class MeshTriangle : public ros::Msg
+  {
+    public:
+      uint32_t vertex_indices[3];
+
+    MeshTriangle():
+      vertex_indices()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      for( uint8_t i = 0; i < 3; i++){
+      *(outbuffer + offset + 0) = (this->vertex_indices[i] >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->vertex_indices[i] >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->vertex_indices[i] >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->vertex_indices[i] >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->vertex_indices[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      for( uint8_t i = 0; i < 3; i++){
+      this->vertex_indices[i] =  ((uint32_t) (*(inbuffer + offset)));
+      this->vertex_indices[i] |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->vertex_indices[i] |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->vertex_indices[i] |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->vertex_indices[i]);
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "shape_msgs/MeshTriangle"; };
+    const char * getMD5(){ return "23688b2e6d2de3d32fe8af104a903253"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 shape_msgs/Plane.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/shape_msgs/Plane.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,73 @@
+#ifndef _ROS_shape_msgs_Plane_h
+#define _ROS_shape_msgs_Plane_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace shape_msgs
+{
+
+  class Plane : public ros::Msg
+  {
+    public:
+      double coef[4];
+
+    Plane():
+      coef()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      for( uint8_t i = 0; i < 4; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_coefi;
+      u_coefi.real = this->coef[i];
+      *(outbuffer + offset + 0) = (u_coefi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_coefi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_coefi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_coefi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_coefi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_coefi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_coefi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_coefi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->coef[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      for( uint8_t i = 0; i < 4; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_coefi;
+      u_coefi.base = 0;
+      u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_coefi.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->coef[i] = u_coefi.real;
+      offset += sizeof(this->coef[i]);
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "shape_msgs/Plane"; };
+    const char * getMD5(){ return "2c1b92ed8f31492f8e73f6a4a44ca796"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 shape_msgs/SolidPrimitive.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/shape_msgs/SolidPrimitive.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,103 @@
+#ifndef _ROS_shape_msgs_SolidPrimitive_h
+#define _ROS_shape_msgs_SolidPrimitive_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace shape_msgs
+{
+
+  class SolidPrimitive : public ros::Msg
+  {
+    public:
+      uint8_t type;
+      uint8_t dimensions_length;
+      double st_dimensions;
+      double * dimensions;
+      enum { BOX = 1 };
+      enum { SPHERE = 2 };
+      enum { CYLINDER = 3 };
+      enum { CONE = 4 };
+      enum { BOX_X = 0 };
+      enum { BOX_Y = 1 };
+      enum { BOX_Z = 2 };
+      enum { SPHERE_RADIUS = 0 };
+      enum { CYLINDER_HEIGHT = 0 };
+      enum { CYLINDER_RADIUS = 1 };
+      enum { CONE_HEIGHT = 0 };
+      enum { CONE_RADIUS = 1 };
+
+    SolidPrimitive():
+      type(0),
+      dimensions_length(0), dimensions(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->type);
+      *(outbuffer + offset++) = dimensions_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < dimensions_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_dimensionsi;
+      u_dimensionsi.real = this->dimensions[i];
+      *(outbuffer + offset + 0) = (u_dimensionsi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_dimensionsi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_dimensionsi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_dimensionsi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_dimensionsi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_dimensionsi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_dimensionsi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_dimensionsi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->dimensions[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->type =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->type);
+      uint8_t dimensions_lengthT = *(inbuffer + offset++);
+      if(dimensions_lengthT > dimensions_length)
+        this->dimensions = (double*)realloc(this->dimensions, dimensions_lengthT * sizeof(double));
+      offset += 3;
+      dimensions_length = dimensions_lengthT;
+      for( uint8_t i = 0; i < dimensions_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_dimensions;
+      u_st_dimensions.base = 0;
+      u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_dimensions.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_dimensions = u_st_dimensions.real;
+      offset += sizeof(this->st_dimensions);
+        memcpy( &(this->dimensions[i]), &(this->st_dimensions), sizeof(double));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "shape_msgs/SolidPrimitive"; };
+    const char * getMD5(){ return "d8f8cbc74c5ff283fca29569ccefb45d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 smach_msgs/SmachContainerInitialStatusCmd.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/smach_msgs/SmachContainerInitialStatusCmd.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,102 @@
+#ifndef _ROS_smach_msgs_SmachContainerInitialStatusCmd_h
+#define _ROS_smach_msgs_SmachContainerInitialStatusCmd_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace smach_msgs
+{
+
+  class SmachContainerInitialStatusCmd : public ros::Msg
+  {
+    public:
+      const char* path;
+      uint8_t initial_states_length;
+      char* st_initial_states;
+      char* * initial_states;
+      const char* local_data;
+
+    SmachContainerInitialStatusCmd():
+      path(""),
+      initial_states_length(0), initial_states(NULL),
+      local_data("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_path = strlen(this->path);
+      memcpy(outbuffer + offset, &length_path, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->path, length_path);
+      offset += length_path;
+      *(outbuffer + offset++) = initial_states_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < initial_states_length; i++){
+      uint32_t length_initial_statesi = strlen(this->initial_states[i]);
+      memcpy(outbuffer + offset, &length_initial_statesi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->initial_states[i], length_initial_statesi);
+      offset += length_initial_statesi;
+      }
+      uint32_t length_local_data = strlen(this->local_data);
+      memcpy(outbuffer + offset, &length_local_data, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->local_data, length_local_data);
+      offset += length_local_data;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_path;
+      memcpy(&length_path, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_path; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_path-1]=0;
+      this->path = (char *)(inbuffer + offset-1);
+      offset += length_path;
+      uint8_t initial_states_lengthT = *(inbuffer + offset++);
+      if(initial_states_lengthT > initial_states_length)
+        this->initial_states = (char**)realloc(this->initial_states, initial_states_lengthT * sizeof(char*));
+      offset += 3;
+      initial_states_length = initial_states_lengthT;
+      for( uint8_t i = 0; i < initial_states_length; i++){
+      uint32_t length_st_initial_states;
+      memcpy(&length_st_initial_states, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_initial_states; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_initial_states-1]=0;
+      this->st_initial_states = (char *)(inbuffer + offset-1);
+      offset += length_st_initial_states;
+        memcpy( &(this->initial_states[i]), &(this->st_initial_states), sizeof(char*));
+      }
+      uint32_t length_local_data;
+      memcpy(&length_local_data, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_local_data; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_local_data-1]=0;
+      this->local_data = (char *)(inbuffer + offset-1);
+      offset += length_local_data;
+     return offset;
+    }
+
+    const char * getType(){ return "smach_msgs/SmachContainerInitialStatusCmd"; };
+    const char * getMD5(){ return "45f8cf31fc29b829db77f23001f788d6"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 smach_msgs/SmachContainerStatus.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/smach_msgs/SmachContainerStatus.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,155 @@
+#ifndef _ROS_smach_msgs_SmachContainerStatus_h
+#define _ROS_smach_msgs_SmachContainerStatus_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace smach_msgs
+{
+
+  class SmachContainerStatus : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      const char* path;
+      uint8_t initial_states_length;
+      char* st_initial_states;
+      char* * initial_states;
+      uint8_t active_states_length;
+      char* st_active_states;
+      char* * active_states;
+      const char* local_data;
+      const char* info;
+
+    SmachContainerStatus():
+      header(),
+      path(""),
+      initial_states_length(0), initial_states(NULL),
+      active_states_length(0), active_states(NULL),
+      local_data(""),
+      info("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      uint32_t length_path = strlen(this->path);
+      memcpy(outbuffer + offset, &length_path, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->path, length_path);
+      offset += length_path;
+      *(outbuffer + offset++) = initial_states_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < initial_states_length; i++){
+      uint32_t length_initial_statesi = strlen(this->initial_states[i]);
+      memcpy(outbuffer + offset, &length_initial_statesi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->initial_states[i], length_initial_statesi);
+      offset += length_initial_statesi;
+      }
+      *(outbuffer + offset++) = active_states_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < active_states_length; i++){
+      uint32_t length_active_statesi = strlen(this->active_states[i]);
+      memcpy(outbuffer + offset, &length_active_statesi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->active_states[i], length_active_statesi);
+      offset += length_active_statesi;
+      }
+      uint32_t length_local_data = strlen(this->local_data);
+      memcpy(outbuffer + offset, &length_local_data, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->local_data, length_local_data);
+      offset += length_local_data;
+      uint32_t length_info = strlen(this->info);
+      memcpy(outbuffer + offset, &length_info, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->info, length_info);
+      offset += length_info;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t length_path;
+      memcpy(&length_path, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_path; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_path-1]=0;
+      this->path = (char *)(inbuffer + offset-1);
+      offset += length_path;
+      uint8_t initial_states_lengthT = *(inbuffer + offset++);
+      if(initial_states_lengthT > initial_states_length)
+        this->initial_states = (char**)realloc(this->initial_states, initial_states_lengthT * sizeof(char*));
+      offset += 3;
+      initial_states_length = initial_states_lengthT;
+      for( uint8_t i = 0; i < initial_states_length; i++){
+      uint32_t length_st_initial_states;
+      memcpy(&length_st_initial_states, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_initial_states; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_initial_states-1]=0;
+      this->st_initial_states = (char *)(inbuffer + offset-1);
+      offset += length_st_initial_states;
+        memcpy( &(this->initial_states[i]), &(this->st_initial_states), sizeof(char*));
+      }
+      uint8_t active_states_lengthT = *(inbuffer + offset++);
+      if(active_states_lengthT > active_states_length)
+        this->active_states = (char**)realloc(this->active_states, active_states_lengthT * sizeof(char*));
+      offset += 3;
+      active_states_length = active_states_lengthT;
+      for( uint8_t i = 0; i < active_states_length; i++){
+      uint32_t length_st_active_states;
+      memcpy(&length_st_active_states, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_active_states; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_active_states-1]=0;
+      this->st_active_states = (char *)(inbuffer + offset-1);
+      offset += length_st_active_states;
+        memcpy( &(this->active_states[i]), &(this->st_active_states), sizeof(char*));
+      }
+      uint32_t length_local_data;
+      memcpy(&length_local_data, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_local_data; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_local_data-1]=0;
+      this->local_data = (char *)(inbuffer + offset-1);
+      offset += length_local_data;
+      uint32_t length_info;
+      memcpy(&length_info, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_info; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_info-1]=0;
+      this->info = (char *)(inbuffer + offset-1);
+      offset += length_info;
+     return offset;
+    }
+
+    const char * getType(){ return "smach_msgs/SmachContainerStatus"; };
+    const char * getMD5(){ return "5ba2bb79ac19e3842d562a191f2a675b"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 smach_msgs/SmachContainerStructure.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/smach_msgs/SmachContainerStructure.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,219 @@
+#ifndef _ROS_smach_msgs_SmachContainerStructure_h
+#define _ROS_smach_msgs_SmachContainerStructure_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace smach_msgs
+{
+
+  class SmachContainerStructure : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      const char* path;
+      uint8_t children_length;
+      char* st_children;
+      char* * children;
+      uint8_t internal_outcomes_length;
+      char* st_internal_outcomes;
+      char* * internal_outcomes;
+      uint8_t outcomes_from_length;
+      char* st_outcomes_from;
+      char* * outcomes_from;
+      uint8_t outcomes_to_length;
+      char* st_outcomes_to;
+      char* * outcomes_to;
+      uint8_t container_outcomes_length;
+      char* st_container_outcomes;
+      char* * container_outcomes;
+
+    SmachContainerStructure():
+      header(),
+      path(""),
+      children_length(0), children(NULL),
+      internal_outcomes_length(0), internal_outcomes(NULL),
+      outcomes_from_length(0), outcomes_from(NULL),
+      outcomes_to_length(0), outcomes_to(NULL),
+      container_outcomes_length(0), container_outcomes(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      uint32_t length_path = strlen(this->path);
+      memcpy(outbuffer + offset, &length_path, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->path, length_path);
+      offset += length_path;
+      *(outbuffer + offset++) = children_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < children_length; i++){
+      uint32_t length_childreni = strlen(this->children[i]);
+      memcpy(outbuffer + offset, &length_childreni, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->children[i], length_childreni);
+      offset += length_childreni;
+      }
+      *(outbuffer + offset++) = internal_outcomes_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < internal_outcomes_length; i++){
+      uint32_t length_internal_outcomesi = strlen(this->internal_outcomes[i]);
+      memcpy(outbuffer + offset, &length_internal_outcomesi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->internal_outcomes[i], length_internal_outcomesi);
+      offset += length_internal_outcomesi;
+      }
+      *(outbuffer + offset++) = outcomes_from_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < outcomes_from_length; i++){
+      uint32_t length_outcomes_fromi = strlen(this->outcomes_from[i]);
+      memcpy(outbuffer + offset, &length_outcomes_fromi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->outcomes_from[i], length_outcomes_fromi);
+      offset += length_outcomes_fromi;
+      }
+      *(outbuffer + offset++) = outcomes_to_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < outcomes_to_length; i++){
+      uint32_t length_outcomes_toi = strlen(this->outcomes_to[i]);
+      memcpy(outbuffer + offset, &length_outcomes_toi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->outcomes_to[i], length_outcomes_toi);
+      offset += length_outcomes_toi;
+      }
+      *(outbuffer + offset++) = container_outcomes_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < container_outcomes_length; i++){
+      uint32_t length_container_outcomesi = strlen(this->container_outcomes[i]);
+      memcpy(outbuffer + offset, &length_container_outcomesi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->container_outcomes[i], length_container_outcomesi);
+      offset += length_container_outcomesi;
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t length_path;
+      memcpy(&length_path, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_path; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_path-1]=0;
+      this->path = (char *)(inbuffer + offset-1);
+      offset += length_path;
+      uint8_t children_lengthT = *(inbuffer + offset++);
+      if(children_lengthT > children_length)
+        this->children = (char**)realloc(this->children, children_lengthT * sizeof(char*));
+      offset += 3;
+      children_length = children_lengthT;
+      for( uint8_t i = 0; i < children_length; i++){
+      uint32_t length_st_children;
+      memcpy(&length_st_children, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_children; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_children-1]=0;
+      this->st_children = (char *)(inbuffer + offset-1);
+      offset += length_st_children;
+        memcpy( &(this->children[i]), &(this->st_children), sizeof(char*));
+      }
+      uint8_t internal_outcomes_lengthT = *(inbuffer + offset++);
+      if(internal_outcomes_lengthT > internal_outcomes_length)
+        this->internal_outcomes = (char**)realloc(this->internal_outcomes, internal_outcomes_lengthT * sizeof(char*));
+      offset += 3;
+      internal_outcomes_length = internal_outcomes_lengthT;
+      for( uint8_t i = 0; i < internal_outcomes_length; i++){
+      uint32_t length_st_internal_outcomes;
+      memcpy(&length_st_internal_outcomes, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_internal_outcomes; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_internal_outcomes-1]=0;
+      this->st_internal_outcomes = (char *)(inbuffer + offset-1);
+      offset += length_st_internal_outcomes;
+        memcpy( &(this->internal_outcomes[i]), &(this->st_internal_outcomes), sizeof(char*));
+      }
+      uint8_t outcomes_from_lengthT = *(inbuffer + offset++);
+      if(outcomes_from_lengthT > outcomes_from_length)
+        this->outcomes_from = (char**)realloc(this->outcomes_from, outcomes_from_lengthT * sizeof(char*));
+      offset += 3;
+      outcomes_from_length = outcomes_from_lengthT;
+      for( uint8_t i = 0; i < outcomes_from_length; i++){
+      uint32_t length_st_outcomes_from;
+      memcpy(&length_st_outcomes_from, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_outcomes_from; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_outcomes_from-1]=0;
+      this->st_outcomes_from = (char *)(inbuffer + offset-1);
+      offset += length_st_outcomes_from;
+        memcpy( &(this->outcomes_from[i]), &(this->st_outcomes_from), sizeof(char*));
+      }
+      uint8_t outcomes_to_lengthT = *(inbuffer + offset++);
+      if(outcomes_to_lengthT > outcomes_to_length)
+        this->outcomes_to = (char**)realloc(this->outcomes_to, outcomes_to_lengthT * sizeof(char*));
+      offset += 3;
+      outcomes_to_length = outcomes_to_lengthT;
+      for( uint8_t i = 0; i < outcomes_to_length; i++){
+      uint32_t length_st_outcomes_to;
+      memcpy(&length_st_outcomes_to, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_outcomes_to; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_outcomes_to-1]=0;
+      this->st_outcomes_to = (char *)(inbuffer + offset-1);
+      offset += length_st_outcomes_to;
+        memcpy( &(this->outcomes_to[i]), &(this->st_outcomes_to), sizeof(char*));
+      }
+      uint8_t container_outcomes_lengthT = *(inbuffer + offset++);
+      if(container_outcomes_lengthT > container_outcomes_length)
+        this->container_outcomes = (char**)realloc(this->container_outcomes, container_outcomes_lengthT * sizeof(char*));
+      offset += 3;
+      container_outcomes_length = container_outcomes_lengthT;
+      for( uint8_t i = 0; i < container_outcomes_length; i++){
+      uint32_t length_st_container_outcomes;
+      memcpy(&length_st_container_outcomes, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_container_outcomes; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_container_outcomes-1]=0;
+      this->st_container_outcomes = (char *)(inbuffer + offset-1);
+      offset += length_st_container_outcomes;
+        memcpy( &(this->container_outcomes[i]), &(this->st_container_outcomes), sizeof(char*));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "smach_msgs/SmachContainerStructure"; };
+    const char * getMD5(){ return "3d3d1e0d0f99779ee9e58101a5dcf7ea"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/Bool.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/Bool.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,55 @@
+#ifndef _ROS_std_msgs_Bool_h
+#define _ROS_std_msgs_Bool_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class Bool : public ros::Msg
+  {
+    public:
+      bool data;
+
+    Bool():
+      data(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_data;
+      u_data.real = this->data;
+      *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_data;
+      u_data.base = 0;
+      u_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->data = u_data.real;
+      offset += sizeof(this->data);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Bool"; };
+    const char * getMD5(){ return "8b94c1b53db61fb6aed406028ad6332a"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/Byte.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/Byte.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,55 @@
+#ifndef _ROS_std_msgs_Byte_h
+#define _ROS_std_msgs_Byte_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class Byte : public ros::Msg
+  {
+    public:
+      int8_t data;
+
+    Byte():
+      data(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_data;
+      u_data.real = this->data;
+      *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_data;
+      u_data.base = 0;
+      u_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->data = u_data.real;
+      offset += sizeof(this->data);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Byte"; };
+    const char * getMD5(){ return "ad736a2e8818154c487bb80fe42ce43b"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/ByteMultiArray.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/ByteMultiArray.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,76 @@
+#ifndef _ROS_std_msgs_ByteMultiArray_h
+#define _ROS_std_msgs_ByteMultiArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/MultiArrayLayout.h"
+
+namespace std_msgs
+{
+
+  class ByteMultiArray : public ros::Msg
+  {
+    public:
+      std_msgs::MultiArrayLayout layout;
+      uint8_t data_length;
+      int8_t st_data;
+      int8_t * data;
+
+    ByteMultiArray():
+      layout(),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->layout.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = data_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < data_length; i++){
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_datai;
+      u_datai.real = this->data[i];
+      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->layout.deserialize(inbuffer + offset);
+      uint8_t data_lengthT = *(inbuffer + offset++);
+      if(data_lengthT > data_length)
+        this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
+      offset += 3;
+      data_length = data_lengthT;
+      for( uint8_t i = 0; i < data_length; i++){
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_st_data;
+      u_st_data.base = 0;
+      u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->st_data = u_st_data.real;
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/ByteMultiArray"; };
+    const char * getMD5(){ return "70ea476cbcfd65ac2f68f3cda1e891fe"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/Char.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/Char.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,44 @@
+#ifndef _ROS_std_msgs_Char_h
+#define _ROS_std_msgs_Char_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class Char : public ros::Msg
+  {
+    public:
+      uint8_t data;
+
+    Char():
+      data(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->data >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->data =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->data);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Char"; };
+    const char * getMD5(){ return "1bf77f25acecdedba0e224b162199717"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/ColorRGBA.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/ColorRGBA.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,130 @@
+#ifndef _ROS_std_msgs_ColorRGBA_h
+#define _ROS_std_msgs_ColorRGBA_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class ColorRGBA : public ros::Msg
+  {
+    public:
+      float r;
+      float g;
+      float b;
+      float a;
+
+    ColorRGBA():
+      r(0),
+      g(0),
+      b(0),
+      a(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_r;
+      u_r.real = this->r;
+      *(outbuffer + offset + 0) = (u_r.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_r.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_r.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_r.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->r);
+      union {
+        float real;
+        uint32_t base;
+      } u_g;
+      u_g.real = this->g;
+      *(outbuffer + offset + 0) = (u_g.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_g.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_g.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_g.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->g);
+      union {
+        float real;
+        uint32_t base;
+      } u_b;
+      u_b.real = this->b;
+      *(outbuffer + offset + 0) = (u_b.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_b.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_b.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_b.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->b);
+      union {
+        float real;
+        uint32_t base;
+      } u_a;
+      u_a.real = this->a;
+      *(outbuffer + offset + 0) = (u_a.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_a.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_a.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_a.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->a);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_r;
+      u_r.base = 0;
+      u_r.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_r.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_r.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_r.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->r = u_r.real;
+      offset += sizeof(this->r);
+      union {
+        float real;
+        uint32_t base;
+      } u_g;
+      u_g.base = 0;
+      u_g.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_g.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_g.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_g.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->g = u_g.real;
+      offset += sizeof(this->g);
+      union {
+        float real;
+        uint32_t base;
+      } u_b;
+      u_b.base = 0;
+      u_b.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_b.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_b.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_b.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->b = u_b.real;
+      offset += sizeof(this->b);
+      union {
+        float real;
+        uint32_t base;
+      } u_a;
+      u_a.base = 0;
+      u_a.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_a.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_a.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_a.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->a = u_a.real;
+      offset += sizeof(this->a);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/ColorRGBA"; };
+    const char * getMD5(){ return "a29a96539573343b1310c73607334b00"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/Duration.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/Duration.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,61 @@
+#ifndef _ROS_std_msgs_Duration_h
+#define _ROS_std_msgs_Duration_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/duration.h"
+
+namespace std_msgs
+{
+
+  class Duration : public ros::Msg
+  {
+    public:
+      ros::Duration data;
+
+    Duration():
+      data()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->data.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data.sec);
+      *(outbuffer + offset + 0) = (this->data.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->data.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->data.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->data.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->data.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->data.sec);
+      this->data.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->data.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->data.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->data.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->data.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Duration"; };
+    const char * getMD5(){ return "3e286caf4241d664e55f3ad380e2ae46"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/Empty.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/Empty.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,38 @@
+#ifndef _ROS_std_msgs_Empty_h
+#define _ROS_std_msgs_Empty_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class Empty : public ros::Msg
+  {
+    public:
+
+    Empty()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Empty"; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/Float32.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/Float32.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,61 @@
+#ifndef _ROS_std_msgs_Float32_h
+#define _ROS_std_msgs_Float32_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class Float32 : public ros::Msg
+  {
+    public:
+      float data;
+
+    Float32():
+      data(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_data;
+      u_data.real = this->data;
+      *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_data.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_data.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_data.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_data;
+      u_data.base = 0;
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->data = u_data.real;
+      offset += sizeof(this->data);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Float32"; };
+    const char * getMD5(){ return "73fcbf46b49191e672908e50842a83d4"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/Float32MultiArray.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/Float32MultiArray.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,82 @@
+#ifndef _ROS_std_msgs_Float32MultiArray_h
+#define _ROS_std_msgs_Float32MultiArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/MultiArrayLayout.h"
+
+namespace std_msgs
+{
+
+  class Float32MultiArray : public ros::Msg
+  {
+    public:
+      std_msgs::MultiArrayLayout layout;
+      uint8_t data_length;
+      float st_data;
+      float * data;
+
+    Float32MultiArray():
+      layout(),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->layout.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = data_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < data_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_datai;
+      u_datai.real = this->data[i];
+      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->layout.deserialize(inbuffer + offset);
+      uint8_t data_lengthT = *(inbuffer + offset++);
+      if(data_lengthT > data_length)
+        this->data = (float*)realloc(this->data, data_lengthT * sizeof(float));
+      offset += 3;
+      data_length = data_lengthT;
+      for( uint8_t i = 0; i < data_length; i++){
+      union {
+        float real;
+        uint32_t base;
+      } u_st_data;
+      u_st_data.base = 0;
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_data = u_st_data.real;
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(float));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Float32MultiArray"; };
+    const char * getMD5(){ return "6a40e0ffa6a17a503ac3f8616991b1f6"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/Float64.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/Float64.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,69 @@
+#ifndef _ROS_std_msgs_Float64_h
+#define _ROS_std_msgs_Float64_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class Float64 : public ros::Msg
+  {
+    public:
+      double data;
+
+    Float64():
+      data(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_data;
+      u_data.real = this->data;
+      *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_data.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_data.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_data.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_data.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_data.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_data.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_data.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->data);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        double real;
+        uint64_t base;
+      } u_data;
+      u_data.base = 0;
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->data = u_data.real;
+      offset += sizeof(this->data);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Float64"; };
+    const char * getMD5(){ return "fdb28210bfa9d7c91146260178d9a584"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/Float64MultiArray.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/Float64MultiArray.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,90 @@
+#ifndef _ROS_std_msgs_Float64MultiArray_h
+#define _ROS_std_msgs_Float64MultiArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/MultiArrayLayout.h"
+
+namespace std_msgs
+{
+
+  class Float64MultiArray : public ros::Msg
+  {
+    public:
+      std_msgs::MultiArrayLayout layout;
+      uint8_t data_length;
+      double st_data;
+      double * data;
+
+    Float64MultiArray():
+      layout(),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->layout.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = data_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < data_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_datai;
+      u_datai.real = this->data[i];
+      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_datai.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_datai.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_datai.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_datai.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->layout.deserialize(inbuffer + offset);
+      uint8_t data_lengthT = *(inbuffer + offset++);
+      if(data_lengthT > data_length)
+        this->data = (double*)realloc(this->data, data_lengthT * sizeof(double));
+      offset += 3;
+      data_length = data_lengthT;
+      for( uint8_t i = 0; i < data_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_data;
+      u_st_data.base = 0;
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_data = u_st_data.real;
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(double));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Float64MultiArray"; };
+    const char * getMD5(){ return "4b7d974086d4060e7db4613a7e6c3ba4"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/Header.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/Header.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,89 @@
+#ifndef _ROS_std_msgs_Header_h
+#define _ROS_std_msgs_Header_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/time.h"
+
+namespace std_msgs
+{
+
+  class Header : public ros::Msg
+  {
+    public:
+      uint32_t seq;
+      ros::Time stamp;
+      const char* frame_id;
+
+    Header():
+      seq(0),
+      stamp(),
+      frame_id("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->seq >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->seq >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->seq >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->seq >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->seq);
+      *(outbuffer + offset + 0) = (this->stamp.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp.sec);
+      *(outbuffer + offset + 0) = (this->stamp.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stamp.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stamp.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stamp.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stamp.nsec);
+      uint32_t length_frame_id = strlen(this->frame_id);
+      memcpy(outbuffer + offset, &length_frame_id, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->frame_id, length_frame_id);
+      offset += length_frame_id;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->seq =  ((uint32_t) (*(inbuffer + offset)));
+      this->seq |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->seq |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->seq |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->seq);
+      this->stamp.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp.sec);
+      this->stamp.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stamp.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stamp.nsec);
+      uint32_t length_frame_id;
+      memcpy(&length_frame_id, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_frame_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_frame_id-1]=0;
+      this->frame_id = (char *)(inbuffer + offset-1);
+      offset += length_frame_id;
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Header"; };
+    const char * getMD5(){ return "2176decaecbce78abc3b96ef049fabed"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/Int16.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/Int16.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,57 @@
+#ifndef _ROS_std_msgs_Int16_h
+#define _ROS_std_msgs_Int16_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class Int16 : public ros::Msg
+  {
+    public:
+      int16_t data;
+
+    Int16():
+      data(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int16_t real;
+        uint16_t base;
+      } u_data;
+      u_data.real = this->data;
+      *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_data.base >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->data);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int16_t real;
+        uint16_t base;
+      } u_data;
+      u_data.base = 0;
+      u_data.base |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_data.base |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->data = u_data.real;
+      offset += sizeof(this->data);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Int16"; };
+    const char * getMD5(){ return "8524586e34fbd7cb1c08c5f5f1ca0e57"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/Int16MultiArray.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/Int16MultiArray.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,78 @@
+#ifndef _ROS_std_msgs_Int16MultiArray_h
+#define _ROS_std_msgs_Int16MultiArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/MultiArrayLayout.h"
+
+namespace std_msgs
+{
+
+  class Int16MultiArray : public ros::Msg
+  {
+    public:
+      std_msgs::MultiArrayLayout layout;
+      uint8_t data_length;
+      int16_t st_data;
+      int16_t * data;
+
+    Int16MultiArray():
+      layout(),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->layout.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = data_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < data_length; i++){
+      union {
+        int16_t real;
+        uint16_t base;
+      } u_datai;
+      u_datai.real = this->data[i];
+      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->layout.deserialize(inbuffer + offset);
+      uint8_t data_lengthT = *(inbuffer + offset++);
+      if(data_lengthT > data_length)
+        this->data = (int16_t*)realloc(this->data, data_lengthT * sizeof(int16_t));
+      offset += 3;
+      data_length = data_lengthT;
+      for( uint8_t i = 0; i < data_length; i++){
+      union {
+        int16_t real;
+        uint16_t base;
+      } u_st_data;
+      u_st_data.base = 0;
+      u_st_data.base |= ((uint16_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_data.base |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->st_data = u_st_data.real;
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(int16_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Int16MultiArray"; };
+    const char * getMD5(){ return "d9338d7f523fcb692fae9d0a0e9f067c"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/Int32.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/Int32.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,61 @@
+#ifndef _ROS_std_msgs_Int32_h
+#define _ROS_std_msgs_Int32_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class Int32 : public ros::Msg
+  {
+    public:
+      int32_t data;
+
+    Int32():
+      data(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_data;
+      u_data.real = this->data;
+      *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_data.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_data.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_data.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_data;
+      u_data.base = 0;
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->data = u_data.real;
+      offset += sizeof(this->data);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Int32"; };
+    const char * getMD5(){ return "da5909fbe378aeaf85e547e830cc1bb7"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/Int32MultiArray.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/Int32MultiArray.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,82 @@
+#ifndef _ROS_std_msgs_Int32MultiArray_h
+#define _ROS_std_msgs_Int32MultiArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/MultiArrayLayout.h"
+
+namespace std_msgs
+{
+
+  class Int32MultiArray : public ros::Msg
+  {
+    public:
+      std_msgs::MultiArrayLayout layout;
+      uint8_t data_length;
+      int32_t st_data;
+      int32_t * data;
+
+    Int32MultiArray():
+      layout(),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->layout.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = data_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < data_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_datai;
+      u_datai.real = this->data[i];
+      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->layout.deserialize(inbuffer + offset);
+      uint8_t data_lengthT = *(inbuffer + offset++);
+      if(data_lengthT > data_length)
+        this->data = (int32_t*)realloc(this->data, data_lengthT * sizeof(int32_t));
+      offset += 3;
+      data_length = data_lengthT;
+      for( uint8_t i = 0; i < data_length; i++){
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_st_data;
+      u_st_data.base = 0;
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_data = u_st_data.real;
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(int32_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Int32MultiArray"; };
+    const char * getMD5(){ return "1d99f79f8b325b44fee908053e9c945b"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/Int64.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/Int64.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,69 @@
+#ifndef _ROS_std_msgs_Int64_h
+#define _ROS_std_msgs_Int64_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class Int64 : public ros::Msg
+  {
+    public:
+      int64_t data;
+
+    Int64():
+      data(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_data;
+      u_data.real = this->data;
+      *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_data.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_data.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_data.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_data.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_data.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_data.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_data.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->data);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_data;
+      u_data.base = 0;
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_data.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->data = u_data.real;
+      offset += sizeof(this->data);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Int64"; };
+    const char * getMD5(){ return "34add168574510e6e17f5d23ecc077ef"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/Int64MultiArray.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/Int64MultiArray.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,90 @@
+#ifndef _ROS_std_msgs_Int64MultiArray_h
+#define _ROS_std_msgs_Int64MultiArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/MultiArrayLayout.h"
+
+namespace std_msgs
+{
+
+  class Int64MultiArray : public ros::Msg
+  {
+    public:
+      std_msgs::MultiArrayLayout layout;
+      uint8_t data_length;
+      int64_t st_data;
+      int64_t * data;
+
+    Int64MultiArray():
+      layout(),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->layout.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = data_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < data_length; i++){
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_datai;
+      u_datai.real = this->data[i];
+      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_datai.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_datai.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_datai.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_datai.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->layout.deserialize(inbuffer + offset);
+      uint8_t data_lengthT = *(inbuffer + offset++);
+      if(data_lengthT > data_length)
+        this->data = (int64_t*)realloc(this->data, data_lengthT * sizeof(int64_t));
+      offset += 3;
+      data_length = data_lengthT;
+      for( uint8_t i = 0; i < data_length; i++){
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_st_data;
+      u_st_data.base = 0;
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_data.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_data = u_st_data.real;
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(int64_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Int64MultiArray"; };
+    const char * getMD5(){ return "54865aa6c65be0448113a2afc6a49270"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/Int8.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/Int8.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,55 @@
+#ifndef _ROS_std_msgs_Int8_h
+#define _ROS_std_msgs_Int8_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class Int8 : public ros::Msg
+  {
+    public:
+      int8_t data;
+
+    Int8():
+      data(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_data;
+      u_data.real = this->data;
+      *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_data;
+      u_data.base = 0;
+      u_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->data = u_data.real;
+      offset += sizeof(this->data);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Int8"; };
+    const char * getMD5(){ return "27ffa0c9c4b8fb8492252bcad9e5c57b"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/Int8MultiArray.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/Int8MultiArray.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,76 @@
+#ifndef _ROS_std_msgs_Int8MultiArray_h
+#define _ROS_std_msgs_Int8MultiArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/MultiArrayLayout.h"
+
+namespace std_msgs
+{
+
+  class Int8MultiArray : public ros::Msg
+  {
+    public:
+      std_msgs::MultiArrayLayout layout;
+      uint8_t data_length;
+      int8_t st_data;
+      int8_t * data;
+
+    Int8MultiArray():
+      layout(),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->layout.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = data_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < data_length; i++){
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_datai;
+      u_datai.real = this->data[i];
+      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->layout.deserialize(inbuffer + offset);
+      uint8_t data_lengthT = *(inbuffer + offset++);
+      if(data_lengthT > data_length)
+        this->data = (int8_t*)realloc(this->data, data_lengthT * sizeof(int8_t));
+      offset += 3;
+      data_length = data_lengthT;
+      for( uint8_t i = 0; i < data_length; i++){
+      union {
+        int8_t real;
+        uint8_t base;
+      } u_st_data;
+      u_st_data.base = 0;
+      u_st_data.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->st_data = u_st_data.real;
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(int8_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Int8MultiArray"; };
+    const char * getMD5(){ return "d7c1af35a1b4781bbe79e03dd94b7c13"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/MultiArrayDimension.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/MultiArrayDimension.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,78 @@
+#ifndef _ROS_std_msgs_MultiArrayDimension_h
+#define _ROS_std_msgs_MultiArrayDimension_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class MultiArrayDimension : public ros::Msg
+  {
+    public:
+      const char* label;
+      uint32_t size;
+      uint32_t stride;
+
+    MultiArrayDimension():
+      label(""),
+      size(0),
+      stride(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_label = strlen(this->label);
+      memcpy(outbuffer + offset, &length_label, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->label, length_label);
+      offset += length_label;
+      *(outbuffer + offset + 0) = (this->size >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->size >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->size >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->size >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->size);
+      *(outbuffer + offset + 0) = (this->stride >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->stride >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->stride >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->stride >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->stride);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_label;
+      memcpy(&length_label, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_label; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_label-1]=0;
+      this->label = (char *)(inbuffer + offset-1);
+      offset += length_label;
+      this->size =  ((uint32_t) (*(inbuffer + offset)));
+      this->size |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->size |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->size |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->size);
+      this->stride =  ((uint32_t) (*(inbuffer + offset)));
+      this->stride |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->stride |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->stride |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->stride);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/MultiArrayDimension"; };
+    const char * getMD5(){ return "4cd0c83a8683deae40ecdac60e53bfa8"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/MultiArrayLayout.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/MultiArrayLayout.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,71 @@
+#ifndef _ROS_std_msgs_MultiArrayLayout_h
+#define _ROS_std_msgs_MultiArrayLayout_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/MultiArrayDimension.h"
+
+namespace std_msgs
+{
+
+  class MultiArrayLayout : public ros::Msg
+  {
+    public:
+      uint8_t dim_length;
+      std_msgs::MultiArrayDimension st_dim;
+      std_msgs::MultiArrayDimension * dim;
+      uint32_t data_offset;
+
+    MultiArrayLayout():
+      dim_length(0), dim(NULL),
+      data_offset(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = dim_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < dim_length; i++){
+      offset += this->dim[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->data_offset >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data_offset >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data_offset >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data_offset >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data_offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t dim_lengthT = *(inbuffer + offset++);
+      if(dim_lengthT > dim_length)
+        this->dim = (std_msgs::MultiArrayDimension*)realloc(this->dim, dim_lengthT * sizeof(std_msgs::MultiArrayDimension));
+      offset += 3;
+      dim_length = dim_lengthT;
+      for( uint8_t i = 0; i < dim_length; i++){
+      offset += this->st_dim.deserialize(inbuffer + offset);
+        memcpy( &(this->dim[i]), &(this->st_dim), sizeof(std_msgs::MultiArrayDimension));
+      }
+      this->data_offset =  ((uint32_t) (*(inbuffer + offset)));
+      this->data_offset |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->data_offset |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->data_offset |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->data_offset);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/MultiArrayLayout"; };
+    const char * getMD5(){ return "0fed2a11c13e11c5571b4e2a995a91a3"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/String.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/String.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,54 @@
+#ifndef _ROS_std_msgs_String_h
+#define _ROS_std_msgs_String_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class String : public ros::Msg
+  {
+    public:
+      const char* data;
+
+    String():
+      data("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_data = strlen(this->data);
+      memcpy(outbuffer + offset, &length_data, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->data, length_data);
+      offset += length_data;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_data;
+      memcpy(&length_data, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_data; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_data-1]=0;
+      this->data = (char *)(inbuffer + offset-1);
+      offset += length_data;
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/String"; };
+    const char * getMD5(){ return "992ce8a1687cec8c8bd883ec73ca41d1"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/Time.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/Time.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,61 @@
+#ifndef _ROS_std_msgs_Time_h
+#define _ROS_std_msgs_Time_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/time.h"
+
+namespace std_msgs
+{
+
+  class Time : public ros::Msg
+  {
+    public:
+      ros::Time data;
+
+    Time():
+      data()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->data.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data.sec);
+      *(outbuffer + offset + 0) = (this->data.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->data.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->data.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->data.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->data.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->data.sec);
+      this->data.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->data.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->data.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->data.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->data.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/Time"; };
+    const char * getMD5(){ return "cd7166c74c552c311fbcc2fe5a7bc289"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/UInt16.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/UInt16.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,46 @@
+#ifndef _ROS_std_msgs_UInt16_h
+#define _ROS_std_msgs_UInt16_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class UInt16 : public ros::Msg
+  {
+    public:
+      uint16_t data;
+
+    UInt16():
+      data(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->data >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->data);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->data =  ((uint16_t) (*(inbuffer + offset)));
+      this->data |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->data);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/UInt16"; };
+    const char * getMD5(){ return "1df79edf208b629fe6b81923a544552d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/UInt16MultiArray.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/UInt16MultiArray.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,67 @@
+#ifndef _ROS_std_msgs_UInt16MultiArray_h
+#define _ROS_std_msgs_UInt16MultiArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/MultiArrayLayout.h"
+
+namespace std_msgs
+{
+
+  class UInt16MultiArray : public ros::Msg
+  {
+    public:
+      std_msgs::MultiArrayLayout layout;
+      uint8_t data_length;
+      uint16_t st_data;
+      uint16_t * data;
+
+    UInt16MultiArray():
+      layout(),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->layout.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = data_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < data_length; i++){
+      *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data[i] >> (8 * 1)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->layout.deserialize(inbuffer + offset);
+      uint8_t data_lengthT = *(inbuffer + offset++);
+      if(data_lengthT > data_length)
+        this->data = (uint16_t*)realloc(this->data, data_lengthT * sizeof(uint16_t));
+      offset += 3;
+      data_length = data_lengthT;
+      for( uint8_t i = 0; i < data_length; i++){
+      this->st_data =  ((uint16_t) (*(inbuffer + offset)));
+      this->st_data |= ((uint16_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(uint16_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/UInt16MultiArray"; };
+    const char * getMD5(){ return "52f264f1c973c4b73790d384c6cb4484"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/UInt32.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/UInt32.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,50 @@
+#ifndef _ROS_std_msgs_UInt32_h
+#define _ROS_std_msgs_UInt32_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class UInt32 : public ros::Msg
+  {
+    public:
+      uint32_t data;
+
+    UInt32():
+      data(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->data >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->data =  ((uint32_t) (*(inbuffer + offset)));
+      this->data |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->data |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->data |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->data);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/UInt32"; };
+    const char * getMD5(){ return "304a39449588c7f8ce2df6e8001c5fce"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/UInt32MultiArray.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/UInt32MultiArray.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,71 @@
+#ifndef _ROS_std_msgs_UInt32MultiArray_h
+#define _ROS_std_msgs_UInt32MultiArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/MultiArrayLayout.h"
+
+namespace std_msgs
+{
+
+  class UInt32MultiArray : public ros::Msg
+  {
+    public:
+      std_msgs::MultiArrayLayout layout;
+      uint8_t data_length;
+      uint32_t st_data;
+      uint32_t * data;
+
+    UInt32MultiArray():
+      layout(),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->layout.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = data_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < data_length; i++){
+      *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->data[i] >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->data[i] >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->data[i] >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->layout.deserialize(inbuffer + offset);
+      uint8_t data_lengthT = *(inbuffer + offset++);
+      if(data_lengthT > data_length)
+        this->data = (uint32_t*)realloc(this->data, data_lengthT * sizeof(uint32_t));
+      offset += 3;
+      data_length = data_lengthT;
+      for( uint8_t i = 0; i < data_length; i++){
+      this->st_data =  ((uint32_t) (*(inbuffer + offset)));
+      this->st_data |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->st_data |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->st_data |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(uint32_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/UInt32MultiArray"; };
+    const char * getMD5(){ return "4d6a180abc9be191b96a7eda6c8a233d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/UInt64.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/UInt64.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,61 @@
+#ifndef _ROS_std_msgs_UInt64_h
+#define _ROS_std_msgs_UInt64_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class UInt64 : public ros::Msg
+  {
+    public:
+      uint64_t data;
+
+    UInt64():
+      data(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        uint64_t real;
+        uint32_t base;
+      } u_data;
+      u_data.real = this->data;
+      *(outbuffer + offset + 0) = (u_data.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_data.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_data.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_data.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        uint64_t real;
+        uint32_t base;
+      } u_data;
+      u_data.base = 0;
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->data = u_data.real;
+      offset += sizeof(this->data);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/UInt64"; };
+    const char * getMD5(){ return "1b2a79973e8bf53d7b53acb71299cb57"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/UInt64MultiArray.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/UInt64MultiArray.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,82 @@
+#ifndef _ROS_std_msgs_UInt64MultiArray_h
+#define _ROS_std_msgs_UInt64MultiArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/MultiArrayLayout.h"
+
+namespace std_msgs
+{
+
+  class UInt64MultiArray : public ros::Msg
+  {
+    public:
+      std_msgs::MultiArrayLayout layout;
+      uint8_t data_length;
+      uint64_t st_data;
+      uint64_t * data;
+
+    UInt64MultiArray():
+      layout(),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->layout.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = data_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < data_length; i++){
+      union {
+        uint64_t real;
+        uint32_t base;
+      } u_datai;
+      u_datai.real = this->data[i];
+      *(outbuffer + offset + 0) = (u_datai.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_datai.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_datai.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_datai.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->layout.deserialize(inbuffer + offset);
+      uint8_t data_lengthT = *(inbuffer + offset++);
+      if(data_lengthT > data_length)
+        this->data = (uint64_t*)realloc(this->data, data_lengthT * sizeof(uint64_t));
+      offset += 3;
+      data_length = data_lengthT;
+      for( uint8_t i = 0; i < data_length; i++){
+      union {
+        uint64_t real;
+        uint32_t base;
+      } u_st_data;
+      u_st_data.base = 0;
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_data.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->st_data = u_st_data.real;
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(uint64_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/UInt64MultiArray"; };
+    const char * getMD5(){ return "6088f127afb1d6c72927aa1247e945af"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/UInt8.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/UInt8.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,44 @@
+#ifndef _ROS_std_msgs_UInt8_h
+#define _ROS_std_msgs_UInt8_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_msgs
+{
+
+  class UInt8 : public ros::Msg
+  {
+    public:
+      uint8_t data;
+
+    UInt8():
+      data(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->data >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->data =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->data);
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/UInt8"; };
+    const char * getMD5(){ return "7c8164229e7d2c17eb95e9231617fdee"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_msgs/UInt8MultiArray.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_msgs/UInt8MultiArray.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,65 @@
+#ifndef _ROS_std_msgs_UInt8MultiArray_h
+#define _ROS_std_msgs_UInt8MultiArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/MultiArrayLayout.h"
+
+namespace std_msgs
+{
+
+  class UInt8MultiArray : public ros::Msg
+  {
+    public:
+      std_msgs::MultiArrayLayout layout;
+      uint8_t data_length;
+      uint8_t st_data;
+      uint8_t * data;
+
+    UInt8MultiArray():
+      layout(),
+      data_length(0), data(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->layout.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = data_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < data_length; i++){
+      *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->layout.deserialize(inbuffer + offset);
+      uint8_t data_lengthT = *(inbuffer + offset++);
+      if(data_lengthT > data_length)
+        this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
+      offset += 3;
+      data_length = data_lengthT;
+      for( uint8_t i = 0; i < data_length; i++){
+      this->st_data =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "std_msgs/UInt8MultiArray"; };
+    const char * getMD5(){ return "82373f1612381bb6ee473b5cd6f5d89c"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 std_srvs/Empty.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_srvs/Empty.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,70 @@
+#ifndef _ROS_SERVICE_Empty_h
+#define _ROS_SERVICE_Empty_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_srvs
+{
+
+static const char EMPTY[] = "std_srvs/Empty";
+
+  class EmptyRequest : public ros::Msg
+  {
+    public:
+
+    EmptyRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return EMPTY; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class EmptyResponse : public ros::Msg
+  {
+    public:
+
+    EmptyResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return EMPTY; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class Empty {
+    public:
+    typedef EmptyRequest Request;
+    typedef EmptyResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 std_srvs/Trigger.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/std_srvs/Trigger.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,103 @@
+#ifndef _ROS_SERVICE_Trigger_h
+#define _ROS_SERVICE_Trigger_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace std_srvs
+{
+
+static const char TRIGGER[] = "std_srvs/Trigger";
+
+  class TriggerRequest : public ros::Msg
+  {
+    public:
+
+    TriggerRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return TRIGGER; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class TriggerResponse : public ros::Msg
+  {
+    public:
+      bool success;
+      const char* message;
+
+    TriggerResponse():
+      success(0),
+      message("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.real = this->success;
+      *(outbuffer + offset + 0) = (u_success.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->success);
+      uint32_t length_message = strlen(this->message);
+      memcpy(outbuffer + offset, &length_message, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->message, length_message);
+      offset += length_message;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        bool real;
+        uint8_t base;
+      } u_success;
+      u_success.base = 0;
+      u_success.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->success = u_success.real;
+      offset += sizeof(this->success);
+      uint32_t length_message;
+      memcpy(&length_message, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_message; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_message-1]=0;
+      this->message = (char *)(inbuffer + offset-1);
+      offset += length_message;
+     return offset;
+    }
+
+    const char * getType(){ return TRIGGER; };
+    const char * getMD5(){ return "937c9679a518e3a18d831e57125ea522"; };
+
+  };
+
+  class Trigger {
+    public:
+    typedef TriggerRequest Request;
+    typedef TriggerResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 stereo_msgs/DisparityImage.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/stereo_msgs/DisparityImage.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,168 @@
+#ifndef _ROS_stereo_msgs_DisparityImage_h
+#define _ROS_stereo_msgs_DisparityImage_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "sensor_msgs/Image.h"
+#include "sensor_msgs/RegionOfInterest.h"
+
+namespace stereo_msgs
+{
+
+  class DisparityImage : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      sensor_msgs::Image image;
+      float f;
+      float T;
+      sensor_msgs::RegionOfInterest valid_window;
+      float min_disparity;
+      float max_disparity;
+      float delta_d;
+
+    DisparityImage():
+      header(),
+      image(),
+      f(0),
+      T(0),
+      valid_window(),
+      min_disparity(0),
+      max_disparity(0),
+      delta_d(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->image.serialize(outbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_f;
+      u_f.real = this->f;
+      *(outbuffer + offset + 0) = (u_f.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_f.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_f.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_f.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->f);
+      union {
+        float real;
+        uint32_t base;
+      } u_T;
+      u_T.real = this->T;
+      *(outbuffer + offset + 0) = (u_T.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_T.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_T.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_T.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->T);
+      offset += this->valid_window.serialize(outbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_min_disparity;
+      u_min_disparity.real = this->min_disparity;
+      *(outbuffer + offset + 0) = (u_min_disparity.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_min_disparity.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_min_disparity.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_min_disparity.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->min_disparity);
+      union {
+        float real;
+        uint32_t base;
+      } u_max_disparity;
+      u_max_disparity.real = this->max_disparity;
+      *(outbuffer + offset + 0) = (u_max_disparity.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_max_disparity.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_max_disparity.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_max_disparity.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->max_disparity);
+      union {
+        float real;
+        uint32_t base;
+      } u_delta_d;
+      u_delta_d.real = this->delta_d;
+      *(outbuffer + offset + 0) = (u_delta_d.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_delta_d.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_delta_d.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_delta_d.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->delta_d);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->image.deserialize(inbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_f;
+      u_f.base = 0;
+      u_f.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_f.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_f.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_f.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->f = u_f.real;
+      offset += sizeof(this->f);
+      union {
+        float real;
+        uint32_t base;
+      } u_T;
+      u_T.base = 0;
+      u_T.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_T.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_T.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_T.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->T = u_T.real;
+      offset += sizeof(this->T);
+      offset += this->valid_window.deserialize(inbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_min_disparity;
+      u_min_disparity.base = 0;
+      u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_min_disparity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->min_disparity = u_min_disparity.real;
+      offset += sizeof(this->min_disparity);
+      union {
+        float real;
+        uint32_t base;
+      } u_max_disparity;
+      u_max_disparity.base = 0;
+      u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_max_disparity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->max_disparity = u_max_disparity.real;
+      offset += sizeof(this->max_disparity);
+      union {
+        float real;
+        uint32_t base;
+      } u_delta_d;
+      u_delta_d.base = 0;
+      u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_delta_d.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->delta_d = u_delta_d.real;
+      offset += sizeof(this->delta_d);
+     return offset;
+    }
+
+    const char * getType(){ return "stereo_msgs/DisparityImage"; };
+    const char * getMD5(){ return "04a177815f75271039fa21f16acad8c9"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 tf/FrameGraph.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tf/FrameGraph.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,86 @@
+#ifndef _ROS_SERVICE_FrameGraph_h
+#define _ROS_SERVICE_FrameGraph_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace tf
+{
+
+static const char FRAMEGRAPH[] = "tf/FrameGraph";
+
+  class FrameGraphRequest : public ros::Msg
+  {
+    public:
+
+    FrameGraphRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return FRAMEGRAPH; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class FrameGraphResponse : public ros::Msg
+  {
+    public:
+      const char* dot_graph;
+
+    FrameGraphResponse():
+      dot_graph("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_dot_graph = strlen(this->dot_graph);
+      memcpy(outbuffer + offset, &length_dot_graph, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->dot_graph, length_dot_graph);
+      offset += length_dot_graph;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_dot_graph;
+      memcpy(&length_dot_graph, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_dot_graph; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_dot_graph-1]=0;
+      this->dot_graph = (char *)(inbuffer + offset-1);
+      offset += length_dot_graph;
+     return offset;
+    }
+
+    const char * getType(){ return FRAMEGRAPH; };
+    const char * getMD5(){ return "c4af9ac907e58e906eb0b6e3c58478c0"; };
+
+  };
+
+  class FrameGraph {
+    public:
+    typedef FrameGraphRequest Request;
+    typedef FrameGraphResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 tf/tf.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tf/tf.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,56 @@
+/* 
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef ROS_TF_H_
+#define ROS_TF_H_
+
+#include "geometry_msgs/TransformStamped.h"
+
+namespace tf
+{
+  
+  static inline geometry_msgs::Quaternion createQuaternionFromYaw(double yaw)
+  {
+    geometry_msgs::Quaternion q;
+    q.x = 0;
+    q.y = 0;
+    q.z = sin(yaw * 0.5);
+    q.w = cos(yaw * 0.5);
+    return q;
+  }
+
+}
+
+#endif
+
diff -r 000000000000 -r a906bb7c7831 tf/tfMessage.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tf/tfMessage.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,59 @@
+#ifndef _ROS_tf_tfMessage_h
+#define _ROS_tf_tfMessage_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/TransformStamped.h"
+
+namespace tf
+{
+
+  class tfMessage : public ros::Msg
+  {
+    public:
+      uint8_t transforms_length;
+      geometry_msgs::TransformStamped st_transforms;
+      geometry_msgs::TransformStamped * transforms;
+
+    tfMessage():
+      transforms_length(0), transforms(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = transforms_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < transforms_length; i++){
+      offset += this->transforms[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t transforms_lengthT = *(inbuffer + offset++);
+      if(transforms_lengthT > transforms_length)
+        this->transforms = (geometry_msgs::TransformStamped*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::TransformStamped));
+      offset += 3;
+      transforms_length = transforms_lengthT;
+      for( uint8_t i = 0; i < transforms_length; i++){
+      offset += this->st_transforms.deserialize(inbuffer + offset);
+        memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::TransformStamped));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "tf/tfMessage"; };
+    const char * getMD5(){ return "94810edda583a504dfda3829e70d7eec"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 tf/transform_broadcaster.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tf/transform_broadcaster.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,68 @@
+/* 
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#ifndef ROS_TRANSFORM_BROADCASTER_H_
+#define ROS_TRANSFORM_BROADCASTER_H_
+
+#include "tfMessage.h"
+
+namespace tf
+{
+
+  class TransformBroadcaster
+  {
+    public:
+      TransformBroadcaster() : publisher_("/tf", &internal_msg) {}
+
+      void init(ros::NodeHandle &nh)
+      {
+        nh.advertise(publisher_);
+      }
+
+      void sendTransform(geometry_msgs::TransformStamped &transform)
+      {
+        internal_msg.transforms_length = 1;
+        internal_msg.transforms = &transform;
+        publisher_.publish(&internal_msg);
+      }
+
+    private:
+      tf::tfMessage internal_msg;
+      ros::Publisher publisher_;
+  };
+
+}
+
+#endif
+
diff -r 000000000000 -r a906bb7c7831 tf2_msgs/FrameGraph.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tf2_msgs/FrameGraph.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,86 @@
+#ifndef _ROS_SERVICE_FrameGraph_h
+#define _ROS_SERVICE_FrameGraph_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace tf2_msgs
+{
+
+static const char FRAMEGRAPH[] = "tf2_msgs/FrameGraph";
+
+  class FrameGraphRequest : public ros::Msg
+  {
+    public:
+
+    FrameGraphRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return FRAMEGRAPH; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class FrameGraphResponse : public ros::Msg
+  {
+    public:
+      const char* frame_yaml;
+
+    FrameGraphResponse():
+      frame_yaml("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_frame_yaml = strlen(this->frame_yaml);
+      memcpy(outbuffer + offset, &length_frame_yaml, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->frame_yaml, length_frame_yaml);
+      offset += length_frame_yaml;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_frame_yaml;
+      memcpy(&length_frame_yaml, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_frame_yaml; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_frame_yaml-1]=0;
+      this->frame_yaml = (char *)(inbuffer + offset-1);
+      offset += length_frame_yaml;
+     return offset;
+    }
+
+    const char * getType(){ return FRAMEGRAPH; };
+    const char * getMD5(){ return "437ea58e9463815a0d511c7326b686b0"; };
+
+  };
+
+  class FrameGraph {
+    public:
+    typedef FrameGraphRequest Request;
+    typedef FrameGraphResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 tf2_msgs/LookupTransformAction.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tf2_msgs/LookupTransformAction.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_tf2_msgs_LookupTransformAction_h
+#define _ROS_tf2_msgs_LookupTransformAction_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "tf2_msgs/LookupTransformActionGoal.h"
+#include "tf2_msgs/LookupTransformActionResult.h"
+#include "tf2_msgs/LookupTransformActionFeedback.h"
+
+namespace tf2_msgs
+{
+
+  class LookupTransformAction : public ros::Msg
+  {
+    public:
+      tf2_msgs::LookupTransformActionGoal action_goal;
+      tf2_msgs::LookupTransformActionResult action_result;
+      tf2_msgs::LookupTransformActionFeedback action_feedback;
+
+    LookupTransformAction():
+      action_goal(),
+      action_result(),
+      action_feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->action_goal.serialize(outbuffer + offset);
+      offset += this->action_result.serialize(outbuffer + offset);
+      offset += this->action_feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->action_goal.deserialize(inbuffer + offset);
+      offset += this->action_result.deserialize(inbuffer + offset);
+      offset += this->action_feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "tf2_msgs/LookupTransformAction"; };
+    const char * getMD5(){ return "7ee01ba91a56c2245c610992dbaa3c37"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 tf2_msgs/LookupTransformActionFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tf2_msgs/LookupTransformActionFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_tf2_msgs_LookupTransformActionFeedback_h
+#define _ROS_tf2_msgs_LookupTransformActionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "tf2_msgs/LookupTransformFeedback.h"
+
+namespace tf2_msgs
+{
+
+  class LookupTransformActionFeedback : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalStatus status;
+      tf2_msgs::LookupTransformFeedback feedback;
+
+    LookupTransformActionFeedback():
+      header(),
+      status(),
+      feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "tf2_msgs/LookupTransformActionFeedback"; };
+    const char * getMD5(){ return "aae20e09065c3809e8a8e87c4c8953fd"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 tf2_msgs/LookupTransformActionGoal.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tf2_msgs/LookupTransformActionGoal.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_tf2_msgs_LookupTransformActionGoal_h
+#define _ROS_tf2_msgs_LookupTransformActionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalID.h"
+#include "tf2_msgs/LookupTransformGoal.h"
+
+namespace tf2_msgs
+{
+
+  class LookupTransformActionGoal : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalID goal_id;
+      tf2_msgs::LookupTransformGoal goal;
+
+    LookupTransformActionGoal():
+      header(),
+      goal_id(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->goal_id.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "tf2_msgs/LookupTransformActionGoal"; };
+    const char * getMD5(){ return "f2e7bcdb75c847978d0351a13e699da5"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 tf2_msgs/LookupTransformActionResult.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tf2_msgs/LookupTransformActionResult.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_tf2_msgs_LookupTransformActionResult_h
+#define _ROS_tf2_msgs_LookupTransformActionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "tf2_msgs/LookupTransformResult.h"
+
+namespace tf2_msgs
+{
+
+  class LookupTransformActionResult : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalStatus status;
+      tf2_msgs::LookupTransformResult result;
+
+    LookupTransformActionResult():
+      header(),
+      status(),
+      result()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->result.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->result.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "tf2_msgs/LookupTransformActionResult"; };
+    const char * getMD5(){ return "ac26ce75a41384fa8bb4dc10f491ab90"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 tf2_msgs/LookupTransformFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tf2_msgs/LookupTransformFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,38 @@
+#ifndef _ROS_tf2_msgs_LookupTransformFeedback_h
+#define _ROS_tf2_msgs_LookupTransformFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace tf2_msgs
+{
+
+  class LookupTransformFeedback : public ros::Msg
+  {
+    public:
+
+    LookupTransformFeedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "tf2_msgs/LookupTransformFeedback"; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 tf2_msgs/LookupTransformGoal.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tf2_msgs/LookupTransformGoal.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,171 @@
+#ifndef _ROS_tf2_msgs_LookupTransformGoal_h
+#define _ROS_tf2_msgs_LookupTransformGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/time.h"
+#include "ros/duration.h"
+
+namespace tf2_msgs
+{
+
+  class LookupTransformGoal : public ros::Msg
+  {
+    public:
+      const char* target_frame;
+      const char* source_frame;
+      ros::Time source_time;
+      ros::Duration timeout;
+      ros::Time target_time;
+      const char* fixed_frame;
+      bool advanced;
+
+    LookupTransformGoal():
+      target_frame(""),
+      source_frame(""),
+      source_time(),
+      timeout(),
+      target_time(),
+      fixed_frame(""),
+      advanced(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_target_frame = strlen(this->target_frame);
+      memcpy(outbuffer + offset, &length_target_frame, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->target_frame, length_target_frame);
+      offset += length_target_frame;
+      uint32_t length_source_frame = strlen(this->source_frame);
+      memcpy(outbuffer + offset, &length_source_frame, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->source_frame, length_source_frame);
+      offset += length_source_frame;
+      *(outbuffer + offset + 0) = (this->source_time.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->source_time.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->source_time.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->source_time.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->source_time.sec);
+      *(outbuffer + offset + 0) = (this->source_time.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->source_time.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->source_time.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->source_time.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->source_time.nsec);
+      *(outbuffer + offset + 0) = (this->timeout.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->timeout.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->timeout.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->timeout.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->timeout.sec);
+      *(outbuffer + offset + 0) = (this->timeout.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->timeout.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->timeout.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->timeout.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->timeout.nsec);
+      *(outbuffer + offset + 0) = (this->target_time.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->target_time.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->target_time.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->target_time.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->target_time.sec);
+      *(outbuffer + offset + 0) = (this->target_time.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->target_time.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->target_time.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->target_time.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->target_time.nsec);
+      uint32_t length_fixed_frame = strlen(this->fixed_frame);
+      memcpy(outbuffer + offset, &length_fixed_frame, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->fixed_frame, length_fixed_frame);
+      offset += length_fixed_frame;
+      union {
+        bool real;
+        uint8_t base;
+      } u_advanced;
+      u_advanced.real = this->advanced;
+      *(outbuffer + offset + 0) = (u_advanced.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->advanced);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_target_frame;
+      memcpy(&length_target_frame, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_target_frame; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_target_frame-1]=0;
+      this->target_frame = (char *)(inbuffer + offset-1);
+      offset += length_target_frame;
+      uint32_t length_source_frame;
+      memcpy(&length_source_frame, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_source_frame; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_source_frame-1]=0;
+      this->source_frame = (char *)(inbuffer + offset-1);
+      offset += length_source_frame;
+      this->source_time.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->source_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->source_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->source_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->source_time.sec);
+      this->source_time.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->source_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->source_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->source_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->source_time.nsec);
+      this->timeout.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->timeout.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->timeout.sec);
+      this->timeout.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->timeout.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->timeout.nsec);
+      this->target_time.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->target_time.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->target_time.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->target_time.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->target_time.sec);
+      this->target_time.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->target_time.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->target_time.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->target_time.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->target_time.nsec);
+      uint32_t length_fixed_frame;
+      memcpy(&length_fixed_frame, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_fixed_frame; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_fixed_frame-1]=0;
+      this->fixed_frame = (char *)(inbuffer + offset-1);
+      offset += length_fixed_frame;
+      union {
+        bool real;
+        uint8_t base;
+      } u_advanced;
+      u_advanced.base = 0;
+      u_advanced.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->advanced = u_advanced.real;
+      offset += sizeof(this->advanced);
+     return offset;
+    }
+
+    const char * getType(){ return "tf2_msgs/LookupTransformGoal"; };
+    const char * getMD5(){ return "35e3720468131d675a18bb6f3e5f22f8"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 tf2_msgs/LookupTransformResult.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tf2_msgs/LookupTransformResult.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,48 @@
+#ifndef _ROS_tf2_msgs_LookupTransformResult_h
+#define _ROS_tf2_msgs_LookupTransformResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/TransformStamped.h"
+#include "tf2_msgs/TF2Error.h"
+
+namespace tf2_msgs
+{
+
+  class LookupTransformResult : public ros::Msg
+  {
+    public:
+      geometry_msgs::TransformStamped transform;
+      tf2_msgs::TF2Error error;
+
+    LookupTransformResult():
+      transform(),
+      error()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->transform.serialize(outbuffer + offset);
+      offset += this->error.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->transform.deserialize(inbuffer + offset);
+      offset += this->error.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "tf2_msgs/LookupTransformResult"; };
+    const char * getMD5(){ return "3fe5db6a19ca9cfb675418c5ad875c36"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 tf2_msgs/TF2Error.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tf2_msgs/TF2Error.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,67 @@
+#ifndef _ROS_tf2_msgs_TF2Error_h
+#define _ROS_tf2_msgs_TF2Error_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace tf2_msgs
+{
+
+  class TF2Error : public ros::Msg
+  {
+    public:
+      uint8_t error;
+      const char* error_string;
+      enum { NO_ERROR =  0 };
+      enum { LOOKUP_ERROR =  1 };
+      enum { CONNECTIVITY_ERROR =  2 };
+      enum { EXTRAPOLATION_ERROR =  3 };
+      enum { INVALID_ARGUMENT_ERROR =  4 };
+      enum { TIMEOUT_ERROR =  5 };
+      enum { TRANSFORM_ERROR =  6 };
+
+    TF2Error():
+      error(0),
+      error_string("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->error >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->error);
+      uint32_t length_error_string = strlen(this->error_string);
+      memcpy(outbuffer + offset, &length_error_string, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->error_string, length_error_string);
+      offset += length_error_string;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->error =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->error);
+      uint32_t length_error_string;
+      memcpy(&length_error_string, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_error_string; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_error_string-1]=0;
+      this->error_string = (char *)(inbuffer + offset-1);
+      offset += length_error_string;
+     return offset;
+    }
+
+    const char * getType(){ return "tf2_msgs/TF2Error"; };
+    const char * getMD5(){ return "bc6848fd6fd750c92e38575618a4917d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 tf2_msgs/TFMessage.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tf2_msgs/TFMessage.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,59 @@
+#ifndef _ROS_tf2_msgs_TFMessage_h
+#define _ROS_tf2_msgs_TFMessage_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/TransformStamped.h"
+
+namespace tf2_msgs
+{
+
+  class TFMessage : public ros::Msg
+  {
+    public:
+      uint8_t transforms_length;
+      geometry_msgs::TransformStamped st_transforms;
+      geometry_msgs::TransformStamped * transforms;
+
+    TFMessage():
+      transforms_length(0), transforms(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = transforms_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < transforms_length; i++){
+      offset += this->transforms[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t transforms_lengthT = *(inbuffer + offset++);
+      if(transforms_lengthT > transforms_length)
+        this->transforms = (geometry_msgs::TransformStamped*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::TransformStamped));
+      offset += 3;
+      transforms_length = transforms_lengthT;
+      for( uint8_t i = 0; i < transforms_length; i++){
+      offset += this->st_transforms.deserialize(inbuffer + offset);
+        memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::TransformStamped));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "tf2_msgs/TFMessage"; };
+    const char * getMD5(){ return "94810edda583a504dfda3829e70d7eec"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 theora_image_transport/Packet.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/theora_image_transport/Packet.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,173 @@
+#ifndef _ROS_theora_image_transport_Packet_h
+#define _ROS_theora_image_transport_Packet_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+
+namespace theora_image_transport
+{
+
+  class Packet : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t data_length;
+      uint8_t st_data;
+      uint8_t * data;
+      int32_t b_o_s;
+      int32_t e_o_s;
+      int64_t granulepos;
+      int64_t packetno;
+
+    Packet():
+      header(),
+      data_length(0), data(NULL),
+      b_o_s(0),
+      e_o_s(0),
+      granulepos(0),
+      packetno(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = data_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < data_length; i++){
+      *(outbuffer + offset + 0) = (this->data[i] >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->data[i]);
+      }
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_b_o_s;
+      u_b_o_s.real = this->b_o_s;
+      *(outbuffer + offset + 0) = (u_b_o_s.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_b_o_s.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_b_o_s.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_b_o_s.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->b_o_s);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_e_o_s;
+      u_e_o_s.real = this->e_o_s;
+      *(outbuffer + offset + 0) = (u_e_o_s.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_e_o_s.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_e_o_s.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_e_o_s.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->e_o_s);
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_granulepos;
+      u_granulepos.real = this->granulepos;
+      *(outbuffer + offset + 0) = (u_granulepos.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_granulepos.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_granulepos.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_granulepos.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_granulepos.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_granulepos.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_granulepos.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_granulepos.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->granulepos);
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_packetno;
+      u_packetno.real = this->packetno;
+      *(outbuffer + offset + 0) = (u_packetno.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_packetno.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_packetno.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_packetno.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_packetno.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_packetno.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_packetno.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_packetno.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->packetno);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t data_lengthT = *(inbuffer + offset++);
+      if(data_lengthT > data_length)
+        this->data = (uint8_t*)realloc(this->data, data_lengthT * sizeof(uint8_t));
+      offset += 3;
+      data_length = data_lengthT;
+      for( uint8_t i = 0; i < data_length; i++){
+      this->st_data =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->st_data);
+        memcpy( &(this->data[i]), &(this->st_data), sizeof(uint8_t));
+      }
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_b_o_s;
+      u_b_o_s.base = 0;
+      u_b_o_s.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_b_o_s.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_b_o_s.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_b_o_s.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->b_o_s = u_b_o_s.real;
+      offset += sizeof(this->b_o_s);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_e_o_s;
+      u_e_o_s.base = 0;
+      u_e_o_s.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_e_o_s.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_e_o_s.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_e_o_s.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->e_o_s = u_e_o_s.real;
+      offset += sizeof(this->e_o_s);
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_granulepos;
+      u_granulepos.base = 0;
+      u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_granulepos.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->granulepos = u_granulepos.real;
+      offset += sizeof(this->granulepos);
+      union {
+        int64_t real;
+        uint64_t base;
+      } u_packetno;
+      u_packetno.base = 0;
+      u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_packetno.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->packetno = u_packetno.real;
+      offset += sizeof(this->packetno);
+     return offset;
+    }
+
+    const char * getType(){ return "theora_image_transport/Packet"; };
+    const char * getMD5(){ return "33ac4e14a7cff32e7e0d65f18bb410f3"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 time.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/time.cpp	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,68 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Copyright (c) 2011, Willow Garage, Inc.
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *  * Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ *  * Redistributions in binary form must reproduce the above
+ *    copyright notice, this list of conditions and the following
+ *    disclaimer in the documentation and/or other materials provided
+ *    with the distribution.
+ *  * Neither the name of Willow Garage, Inc. nor the names of its
+ *    contributors may be used to endorse or promote prducts derived
+ *    from this software without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ */
+
+#include "ros/time.h"
+
+namespace ros
+{
+  void normalizeSecNSec(uint32_t& sec, uint32_t& nsec){
+    uint32_t nsec_part= nsec % 1000000000UL;
+    uint32_t sec_part = nsec / 1000000000UL;
+    sec += sec_part;
+    nsec = nsec_part;
+  }
+
+  Time& Time::fromNSec(int32_t t)
+  {
+    sec = t / 1000000000;
+    nsec = t % 1000000000;
+    normalizeSecNSec(sec, nsec);
+    return *this;
+  }
+
+  Time& Time::operator +=(const Duration &rhs)
+  {
+    sec += rhs.sec;
+    nsec += rhs.nsec;
+    normalizeSecNSec(sec, nsec);
+    return *this;
+  }
+
+  Time& Time::operator -=(const Duration &rhs){
+    sec += -rhs.sec;
+    nsec += -rhs.nsec;
+    normalizeSecNSec(sec, nsec);
+    return *this;
+  }
+}
diff -r 000000000000 -r a906bb7c7831 topic_tools/DemuxAdd.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/topic_tools/DemuxAdd.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,86 @@
+#ifndef _ROS_SERVICE_DemuxAdd_h
+#define _ROS_SERVICE_DemuxAdd_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace topic_tools
+{
+
+static const char DEMUXADD[] = "topic_tools/DemuxAdd";
+
+  class DemuxAddRequest : public ros::Msg
+  {
+    public:
+      const char* topic;
+
+    DemuxAddRequest():
+      topic("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_topic = strlen(this->topic);
+      memcpy(outbuffer + offset, &length_topic, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->topic, length_topic);
+      offset += length_topic;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_topic;
+      memcpy(&length_topic, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_topic; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_topic-1]=0;
+      this->topic = (char *)(inbuffer + offset-1);
+      offset += length_topic;
+     return offset;
+    }
+
+    const char * getType(){ return DEMUXADD; };
+    const char * getMD5(){ return "d8f94bae31b356b24d0427f80426d0c3"; };
+
+  };
+
+  class DemuxAddResponse : public ros::Msg
+  {
+    public:
+
+    DemuxAddResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return DEMUXADD; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class DemuxAdd {
+    public:
+    typedef DemuxAddRequest Request;
+    typedef DemuxAddResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 topic_tools/DemuxDelete.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/topic_tools/DemuxDelete.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,86 @@
+#ifndef _ROS_SERVICE_DemuxDelete_h
+#define _ROS_SERVICE_DemuxDelete_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace topic_tools
+{
+
+static const char DEMUXDELETE[] = "topic_tools/DemuxDelete";
+
+  class DemuxDeleteRequest : public ros::Msg
+  {
+    public:
+      const char* topic;
+
+    DemuxDeleteRequest():
+      topic("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_topic = strlen(this->topic);
+      memcpy(outbuffer + offset, &length_topic, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->topic, length_topic);
+      offset += length_topic;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_topic;
+      memcpy(&length_topic, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_topic; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_topic-1]=0;
+      this->topic = (char *)(inbuffer + offset-1);
+      offset += length_topic;
+     return offset;
+    }
+
+    const char * getType(){ return DEMUXDELETE; };
+    const char * getMD5(){ return "d8f94bae31b356b24d0427f80426d0c3"; };
+
+  };
+
+  class DemuxDeleteResponse : public ros::Msg
+  {
+    public:
+
+    DemuxDeleteResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return DEMUXDELETE; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class DemuxDelete {
+    public:
+    typedef DemuxDeleteRequest Request;
+    typedef DemuxDeleteResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 topic_tools/DemuxList.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/topic_tools/DemuxList.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,102 @@
+#ifndef _ROS_SERVICE_DemuxList_h
+#define _ROS_SERVICE_DemuxList_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace topic_tools
+{
+
+static const char DEMUXLIST[] = "topic_tools/DemuxList";
+
+  class DemuxListRequest : public ros::Msg
+  {
+    public:
+
+    DemuxListRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return DEMUXLIST; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class DemuxListResponse : public ros::Msg
+  {
+    public:
+      uint8_t topics_length;
+      char* st_topics;
+      char* * topics;
+
+    DemuxListResponse():
+      topics_length(0), topics(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = topics_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < topics_length; i++){
+      uint32_t length_topicsi = strlen(this->topics[i]);
+      memcpy(outbuffer + offset, &length_topicsi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->topics[i], length_topicsi);
+      offset += length_topicsi;
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t topics_lengthT = *(inbuffer + offset++);
+      if(topics_lengthT > topics_length)
+        this->topics = (char**)realloc(this->topics, topics_lengthT * sizeof(char*));
+      offset += 3;
+      topics_length = topics_lengthT;
+      for( uint8_t i = 0; i < topics_length; i++){
+      uint32_t length_st_topics;
+      memcpy(&length_st_topics, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_topics; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_topics-1]=0;
+      this->st_topics = (char *)(inbuffer + offset-1);
+      offset += length_st_topics;
+        memcpy( &(this->topics[i]), &(this->st_topics), sizeof(char*));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return DEMUXLIST; };
+    const char * getMD5(){ return "b0eef9a05d4e829092fc2f2c3c2aad3d"; };
+
+  };
+
+  class DemuxList {
+    public:
+    typedef DemuxListRequest Request;
+    typedef DemuxListResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 topic_tools/DemuxSelect.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/topic_tools/DemuxSelect.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,102 @@
+#ifndef _ROS_SERVICE_DemuxSelect_h
+#define _ROS_SERVICE_DemuxSelect_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace topic_tools
+{
+
+static const char DEMUXSELECT[] = "topic_tools/DemuxSelect";
+
+  class DemuxSelectRequest : public ros::Msg
+  {
+    public:
+      const char* topic;
+
+    DemuxSelectRequest():
+      topic("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_topic = strlen(this->topic);
+      memcpy(outbuffer + offset, &length_topic, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->topic, length_topic);
+      offset += length_topic;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_topic;
+      memcpy(&length_topic, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_topic; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_topic-1]=0;
+      this->topic = (char *)(inbuffer + offset-1);
+      offset += length_topic;
+     return offset;
+    }
+
+    const char * getType(){ return DEMUXSELECT; };
+    const char * getMD5(){ return "d8f94bae31b356b24d0427f80426d0c3"; };
+
+  };
+
+  class DemuxSelectResponse : public ros::Msg
+  {
+    public:
+      const char* prev_topic;
+
+    DemuxSelectResponse():
+      prev_topic("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_prev_topic = strlen(this->prev_topic);
+      memcpy(outbuffer + offset, &length_prev_topic, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->prev_topic, length_prev_topic);
+      offset += length_prev_topic;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_prev_topic;
+      memcpy(&length_prev_topic, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_prev_topic; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_prev_topic-1]=0;
+      this->prev_topic = (char *)(inbuffer + offset-1);
+      offset += length_prev_topic;
+     return offset;
+    }
+
+    const char * getType(){ return DEMUXSELECT; };
+    const char * getMD5(){ return "3db0a473debdbafea387c9e49358c320"; };
+
+  };
+
+  class DemuxSelect {
+    public:
+    typedef DemuxSelectRequest Request;
+    typedef DemuxSelectResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 topic_tools/MuxAdd.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/topic_tools/MuxAdd.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,86 @@
+#ifndef _ROS_SERVICE_MuxAdd_h
+#define _ROS_SERVICE_MuxAdd_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace topic_tools
+{
+
+static const char MUXADD[] = "topic_tools/MuxAdd";
+
+  class MuxAddRequest : public ros::Msg
+  {
+    public:
+      const char* topic;
+
+    MuxAddRequest():
+      topic("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_topic = strlen(this->topic);
+      memcpy(outbuffer + offset, &length_topic, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->topic, length_topic);
+      offset += length_topic;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_topic;
+      memcpy(&length_topic, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_topic; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_topic-1]=0;
+      this->topic = (char *)(inbuffer + offset-1);
+      offset += length_topic;
+     return offset;
+    }
+
+    const char * getType(){ return MUXADD; };
+    const char * getMD5(){ return "d8f94bae31b356b24d0427f80426d0c3"; };
+
+  };
+
+  class MuxAddResponse : public ros::Msg
+  {
+    public:
+
+    MuxAddResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return MUXADD; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class MuxAdd {
+    public:
+    typedef MuxAddRequest Request;
+    typedef MuxAddResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 topic_tools/MuxDelete.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/topic_tools/MuxDelete.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,86 @@
+#ifndef _ROS_SERVICE_MuxDelete_h
+#define _ROS_SERVICE_MuxDelete_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace topic_tools
+{
+
+static const char MUXDELETE[] = "topic_tools/MuxDelete";
+
+  class MuxDeleteRequest : public ros::Msg
+  {
+    public:
+      const char* topic;
+
+    MuxDeleteRequest():
+      topic("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_topic = strlen(this->topic);
+      memcpy(outbuffer + offset, &length_topic, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->topic, length_topic);
+      offset += length_topic;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_topic;
+      memcpy(&length_topic, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_topic; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_topic-1]=0;
+      this->topic = (char *)(inbuffer + offset-1);
+      offset += length_topic;
+     return offset;
+    }
+
+    const char * getType(){ return MUXDELETE; };
+    const char * getMD5(){ return "d8f94bae31b356b24d0427f80426d0c3"; };
+
+  };
+
+  class MuxDeleteResponse : public ros::Msg
+  {
+    public:
+
+    MuxDeleteResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return MUXDELETE; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class MuxDelete {
+    public:
+    typedef MuxDeleteRequest Request;
+    typedef MuxDeleteResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 topic_tools/MuxList.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/topic_tools/MuxList.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,102 @@
+#ifndef _ROS_SERVICE_MuxList_h
+#define _ROS_SERVICE_MuxList_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace topic_tools
+{
+
+static const char MUXLIST[] = "topic_tools/MuxList";
+
+  class MuxListRequest : public ros::Msg
+  {
+    public:
+
+    MuxListRequest()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return MUXLIST; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class MuxListResponse : public ros::Msg
+  {
+    public:
+      uint8_t topics_length;
+      char* st_topics;
+      char* * topics;
+
+    MuxListResponse():
+      topics_length(0), topics(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = topics_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < topics_length; i++){
+      uint32_t length_topicsi = strlen(this->topics[i]);
+      memcpy(outbuffer + offset, &length_topicsi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->topics[i], length_topicsi);
+      offset += length_topicsi;
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t topics_lengthT = *(inbuffer + offset++);
+      if(topics_lengthT > topics_length)
+        this->topics = (char**)realloc(this->topics, topics_lengthT * sizeof(char*));
+      offset += 3;
+      topics_length = topics_lengthT;
+      for( uint8_t i = 0; i < topics_length; i++){
+      uint32_t length_st_topics;
+      memcpy(&length_st_topics, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_topics; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_topics-1]=0;
+      this->st_topics = (char *)(inbuffer + offset-1);
+      offset += length_st_topics;
+        memcpy( &(this->topics[i]), &(this->st_topics), sizeof(char*));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return MUXLIST; };
+    const char * getMD5(){ return "b0eef9a05d4e829092fc2f2c3c2aad3d"; };
+
+  };
+
+  class MuxList {
+    public:
+    typedef MuxListRequest Request;
+    typedef MuxListResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 topic_tools/MuxSelect.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/topic_tools/MuxSelect.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,102 @@
+#ifndef _ROS_SERVICE_MuxSelect_h
+#define _ROS_SERVICE_MuxSelect_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace topic_tools
+{
+
+static const char MUXSELECT[] = "topic_tools/MuxSelect";
+
+  class MuxSelectRequest : public ros::Msg
+  {
+    public:
+      const char* topic;
+
+    MuxSelectRequest():
+      topic("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_topic = strlen(this->topic);
+      memcpy(outbuffer + offset, &length_topic, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->topic, length_topic);
+      offset += length_topic;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_topic;
+      memcpy(&length_topic, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_topic; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_topic-1]=0;
+      this->topic = (char *)(inbuffer + offset-1);
+      offset += length_topic;
+     return offset;
+    }
+
+    const char * getType(){ return MUXSELECT; };
+    const char * getMD5(){ return "d8f94bae31b356b24d0427f80426d0c3"; };
+
+  };
+
+  class MuxSelectResponse : public ros::Msg
+  {
+    public:
+      const char* prev_topic;
+
+    MuxSelectResponse():
+      prev_topic("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_prev_topic = strlen(this->prev_topic);
+      memcpy(outbuffer + offset, &length_prev_topic, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->prev_topic, length_prev_topic);
+      offset += length_prev_topic;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_prev_topic;
+      memcpy(&length_prev_topic, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_prev_topic; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_prev_topic-1]=0;
+      this->prev_topic = (char *)(inbuffer + offset-1);
+      offset += length_prev_topic;
+     return offset;
+    }
+
+    const char * getType(){ return MUXSELECT; };
+    const char * getMD5(){ return "3db0a473debdbafea387c9e49358c320"; };
+
+  };
+
+  class MuxSelect {
+    public:
+    typedef MuxSelectRequest Request;
+    typedef MuxSelectResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 trajectory_msgs/JointTrajectory.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/trajectory_msgs/JointTrajectory.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,96 @@
+#ifndef _ROS_trajectory_msgs_JointTrajectory_h
+#define _ROS_trajectory_msgs_JointTrajectory_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "trajectory_msgs/JointTrajectoryPoint.h"
+
+namespace trajectory_msgs
+{
+
+  class JointTrajectory : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t joint_names_length;
+      char* st_joint_names;
+      char* * joint_names;
+      uint8_t points_length;
+      trajectory_msgs::JointTrajectoryPoint st_points;
+      trajectory_msgs::JointTrajectoryPoint * points;
+
+    JointTrajectory():
+      header(),
+      joint_names_length(0), joint_names(NULL),
+      points_length(0), points(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = joint_names_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < joint_names_length; i++){
+      uint32_t length_joint_namesi = strlen(this->joint_names[i]);
+      memcpy(outbuffer + offset, &length_joint_namesi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
+      offset += length_joint_namesi;
+      }
+      *(outbuffer + offset++) = points_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < points_length; i++){
+      offset += this->points[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t joint_names_lengthT = *(inbuffer + offset++);
+      if(joint_names_lengthT > joint_names_length)
+        this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
+      offset += 3;
+      joint_names_length = joint_names_lengthT;
+      for( uint8_t i = 0; i < joint_names_length; i++){
+      uint32_t length_st_joint_names;
+      memcpy(&length_st_joint_names, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_joint_names-1]=0;
+      this->st_joint_names = (char *)(inbuffer + offset-1);
+      offset += length_st_joint_names;
+        memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
+      }
+      uint8_t points_lengthT = *(inbuffer + offset++);
+      if(points_lengthT > points_length)
+        this->points = (trajectory_msgs::JointTrajectoryPoint*)realloc(this->points, points_lengthT * sizeof(trajectory_msgs::JointTrajectoryPoint));
+      offset += 3;
+      points_length = points_lengthT;
+      for( uint8_t i = 0; i < points_length; i++){
+      offset += this->st_points.deserialize(inbuffer + offset);
+        memcpy( &(this->points[i]), &(this->st_points), sizeof(trajectory_msgs::JointTrajectoryPoint));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "trajectory_msgs/JointTrajectory"; };
+    const char * getMD5(){ return "65b4f94a94d1ed67169da35a02f33d3f"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 trajectory_msgs/JointTrajectoryPoint.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/trajectory_msgs/JointTrajectoryPoint.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,249 @@
+#ifndef _ROS_trajectory_msgs_JointTrajectoryPoint_h
+#define _ROS_trajectory_msgs_JointTrajectoryPoint_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "ros/duration.h"
+
+namespace trajectory_msgs
+{
+
+  class JointTrajectoryPoint : public ros::Msg
+  {
+    public:
+      uint8_t positions_length;
+      double st_positions;
+      double * positions;
+      uint8_t velocities_length;
+      double st_velocities;
+      double * velocities;
+      uint8_t accelerations_length;
+      double st_accelerations;
+      double * accelerations;
+      uint8_t effort_length;
+      double st_effort;
+      double * effort;
+      ros::Duration time_from_start;
+
+    JointTrajectoryPoint():
+      positions_length(0), positions(NULL),
+      velocities_length(0), velocities(NULL),
+      accelerations_length(0), accelerations(NULL),
+      effort_length(0), effort(NULL),
+      time_from_start()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = positions_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < positions_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_positionsi;
+      u_positionsi.real = this->positions[i];
+      *(outbuffer + offset + 0) = (u_positionsi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_positionsi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_positionsi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_positionsi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_positionsi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_positionsi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_positionsi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_positionsi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->positions[i]);
+      }
+      *(outbuffer + offset++) = velocities_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < velocities_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_velocitiesi;
+      u_velocitiesi.real = this->velocities[i];
+      *(outbuffer + offset + 0) = (u_velocitiesi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_velocitiesi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_velocitiesi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_velocitiesi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_velocitiesi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_velocitiesi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_velocitiesi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_velocitiesi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->velocities[i]);
+      }
+      *(outbuffer + offset++) = accelerations_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < accelerations_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_accelerationsi;
+      u_accelerationsi.real = this->accelerations[i];
+      *(outbuffer + offset + 0) = (u_accelerationsi.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_accelerationsi.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_accelerationsi.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_accelerationsi.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_accelerationsi.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_accelerationsi.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_accelerationsi.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_accelerationsi.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->accelerations[i]);
+      }
+      *(outbuffer + offset++) = effort_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < effort_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_efforti;
+      u_efforti.real = this->effort[i];
+      *(outbuffer + offset + 0) = (u_efforti.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_efforti.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_efforti.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_efforti.base >> (8 * 3)) & 0xFF;
+      *(outbuffer + offset + 4) = (u_efforti.base >> (8 * 4)) & 0xFF;
+      *(outbuffer + offset + 5) = (u_efforti.base >> (8 * 5)) & 0xFF;
+      *(outbuffer + offset + 6) = (u_efforti.base >> (8 * 6)) & 0xFF;
+      *(outbuffer + offset + 7) = (u_efforti.base >> (8 * 7)) & 0xFF;
+      offset += sizeof(this->effort[i]);
+      }
+      *(outbuffer + offset + 0) = (this->time_from_start.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->time_from_start.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->time_from_start.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->time_from_start.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time_from_start.sec);
+      *(outbuffer + offset + 0) = (this->time_from_start.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->time_from_start.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->time_from_start.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->time_from_start.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time_from_start.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t positions_lengthT = *(inbuffer + offset++);
+      if(positions_lengthT > positions_length)
+        this->positions = (double*)realloc(this->positions, positions_lengthT * sizeof(double));
+      offset += 3;
+      positions_length = positions_lengthT;
+      for( uint8_t i = 0; i < positions_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_positions;
+      u_st_positions.base = 0;
+      u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_positions.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_positions = u_st_positions.real;
+      offset += sizeof(this->st_positions);
+        memcpy( &(this->positions[i]), &(this->st_positions), sizeof(double));
+      }
+      uint8_t velocities_lengthT = *(inbuffer + offset++);
+      if(velocities_lengthT > velocities_length)
+        this->velocities = (double*)realloc(this->velocities, velocities_lengthT * sizeof(double));
+      offset += 3;
+      velocities_length = velocities_lengthT;
+      for( uint8_t i = 0; i < velocities_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_velocities;
+      u_st_velocities.base = 0;
+      u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_velocities.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_velocities = u_st_velocities.real;
+      offset += sizeof(this->st_velocities);
+        memcpy( &(this->velocities[i]), &(this->st_velocities), sizeof(double));
+      }
+      uint8_t accelerations_lengthT = *(inbuffer + offset++);
+      if(accelerations_lengthT > accelerations_length)
+        this->accelerations = (double*)realloc(this->accelerations, accelerations_lengthT * sizeof(double));
+      offset += 3;
+      accelerations_length = accelerations_lengthT;
+      for( uint8_t i = 0; i < accelerations_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_accelerations;
+      u_st_accelerations.base = 0;
+      u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_accelerations.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_accelerations = u_st_accelerations.real;
+      offset += sizeof(this->st_accelerations);
+        memcpy( &(this->accelerations[i]), &(this->st_accelerations), sizeof(double));
+      }
+      uint8_t effort_lengthT = *(inbuffer + offset++);
+      if(effort_lengthT > effort_length)
+        this->effort = (double*)realloc(this->effort, effort_lengthT * sizeof(double));
+      offset += 3;
+      effort_length = effort_lengthT;
+      for( uint8_t i = 0; i < effort_length; i++){
+      union {
+        double real;
+        uint64_t base;
+      } u_st_effort;
+      u_st_effort.base = 0;
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 4))) << (8 * 4);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 5))) << (8 * 5);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 6))) << (8 * 6);
+      u_st_effort.base |= ((uint64_t) (*(inbuffer + offset + 7))) << (8 * 7);
+      this->st_effort = u_st_effort.real;
+      offset += sizeof(this->st_effort);
+        memcpy( &(this->effort[i]), &(this->st_effort), sizeof(double));
+      }
+      this->time_from_start.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->time_from_start.sec);
+      this->time_from_start.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->time_from_start.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return "trajectory_msgs/JointTrajectoryPoint"; };
+    const char * getMD5(){ return "f3cd1e1c4d320c79d6985c904ae5dcd3"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 trajectory_msgs/MultiDOFJointTrajectory.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/trajectory_msgs/MultiDOFJointTrajectory.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,96 @@
+#ifndef _ROS_trajectory_msgs_MultiDOFJointTrajectory_h
+#define _ROS_trajectory_msgs_MultiDOFJointTrajectory_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "trajectory_msgs/MultiDOFJointTrajectoryPoint.h"
+
+namespace trajectory_msgs
+{
+
+  class MultiDOFJointTrajectory : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      uint8_t joint_names_length;
+      char* st_joint_names;
+      char* * joint_names;
+      uint8_t points_length;
+      trajectory_msgs::MultiDOFJointTrajectoryPoint st_points;
+      trajectory_msgs::MultiDOFJointTrajectoryPoint * points;
+
+    MultiDOFJointTrajectory():
+      header(),
+      joint_names_length(0), joint_names(NULL),
+      points_length(0), points(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      *(outbuffer + offset++) = joint_names_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < joint_names_length; i++){
+      uint32_t length_joint_namesi = strlen(this->joint_names[i]);
+      memcpy(outbuffer + offset, &length_joint_namesi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->joint_names[i], length_joint_namesi);
+      offset += length_joint_namesi;
+      }
+      *(outbuffer + offset++) = points_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < points_length; i++){
+      offset += this->points[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint8_t joint_names_lengthT = *(inbuffer + offset++);
+      if(joint_names_lengthT > joint_names_length)
+        this->joint_names = (char**)realloc(this->joint_names, joint_names_lengthT * sizeof(char*));
+      offset += 3;
+      joint_names_length = joint_names_lengthT;
+      for( uint8_t i = 0; i < joint_names_length; i++){
+      uint32_t length_st_joint_names;
+      memcpy(&length_st_joint_names, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_joint_names; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_joint_names-1]=0;
+      this->st_joint_names = (char *)(inbuffer + offset-1);
+      offset += length_st_joint_names;
+        memcpy( &(this->joint_names[i]), &(this->st_joint_names), sizeof(char*));
+      }
+      uint8_t points_lengthT = *(inbuffer + offset++);
+      if(points_lengthT > points_length)
+        this->points = (trajectory_msgs::MultiDOFJointTrajectoryPoint*)realloc(this->points, points_lengthT * sizeof(trajectory_msgs::MultiDOFJointTrajectoryPoint));
+      offset += 3;
+      points_length = points_lengthT;
+      for( uint8_t i = 0; i < points_length; i++){
+      offset += this->st_points.deserialize(inbuffer + offset);
+        memcpy( &(this->points[i]), &(this->st_points), sizeof(trajectory_msgs::MultiDOFJointTrajectoryPoint));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "trajectory_msgs/MultiDOFJointTrajectory"; };
+    const char * getMD5(){ return "ef145a45a5f47b77b7f5cdde4b16c942"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 trajectory_msgs/MultiDOFJointTrajectoryPoint.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/trajectory_msgs/MultiDOFJointTrajectoryPoint.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,123 @@
+#ifndef _ROS_trajectory_msgs_MultiDOFJointTrajectoryPoint_h
+#define _ROS_trajectory_msgs_MultiDOFJointTrajectoryPoint_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Transform.h"
+#include "geometry_msgs/Twist.h"
+#include "ros/duration.h"
+
+namespace trajectory_msgs
+{
+
+  class MultiDOFJointTrajectoryPoint : public ros::Msg
+  {
+    public:
+      uint8_t transforms_length;
+      geometry_msgs::Transform st_transforms;
+      geometry_msgs::Transform * transforms;
+      uint8_t velocities_length;
+      geometry_msgs::Twist st_velocities;
+      geometry_msgs::Twist * velocities;
+      uint8_t accelerations_length;
+      geometry_msgs::Twist st_accelerations;
+      geometry_msgs::Twist * accelerations;
+      ros::Duration time_from_start;
+
+    MultiDOFJointTrajectoryPoint():
+      transforms_length(0), transforms(NULL),
+      velocities_length(0), velocities(NULL),
+      accelerations_length(0), accelerations(NULL),
+      time_from_start()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = transforms_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < transforms_length; i++){
+      offset += this->transforms[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = velocities_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < velocities_length; i++){
+      offset += this->velocities[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = accelerations_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < accelerations_length; i++){
+      offset += this->accelerations[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset + 0) = (this->time_from_start.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->time_from_start.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->time_from_start.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->time_from_start.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time_from_start.sec);
+      *(outbuffer + offset + 0) = (this->time_from_start.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->time_from_start.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->time_from_start.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->time_from_start.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->time_from_start.nsec);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t transforms_lengthT = *(inbuffer + offset++);
+      if(transforms_lengthT > transforms_length)
+        this->transforms = (geometry_msgs::Transform*)realloc(this->transforms, transforms_lengthT * sizeof(geometry_msgs::Transform));
+      offset += 3;
+      transforms_length = transforms_lengthT;
+      for( uint8_t i = 0; i < transforms_length; i++){
+      offset += this->st_transforms.deserialize(inbuffer + offset);
+        memcpy( &(this->transforms[i]), &(this->st_transforms), sizeof(geometry_msgs::Transform));
+      }
+      uint8_t velocities_lengthT = *(inbuffer + offset++);
+      if(velocities_lengthT > velocities_length)
+        this->velocities = (geometry_msgs::Twist*)realloc(this->velocities, velocities_lengthT * sizeof(geometry_msgs::Twist));
+      offset += 3;
+      velocities_length = velocities_lengthT;
+      for( uint8_t i = 0; i < velocities_length; i++){
+      offset += this->st_velocities.deserialize(inbuffer + offset);
+        memcpy( &(this->velocities[i]), &(this->st_velocities), sizeof(geometry_msgs::Twist));
+      }
+      uint8_t accelerations_lengthT = *(inbuffer + offset++);
+      if(accelerations_lengthT > accelerations_length)
+        this->accelerations = (geometry_msgs::Twist*)realloc(this->accelerations, accelerations_lengthT * sizeof(geometry_msgs::Twist));
+      offset += 3;
+      accelerations_length = accelerations_lengthT;
+      for( uint8_t i = 0; i < accelerations_length; i++){
+      offset += this->st_accelerations.deserialize(inbuffer + offset);
+        memcpy( &(this->accelerations[i]), &(this->st_accelerations), sizeof(geometry_msgs::Twist));
+      }
+      this->time_from_start.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->time_from_start.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->time_from_start.sec);
+      this->time_from_start.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->time_from_start.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->time_from_start.nsec);
+     return offset;
+    }
+
+    const char * getType(){ return "trajectory_msgs/MultiDOFJointTrajectoryPoint"; };
+    const char * getMD5(){ return "3ebe08d1abd5b65862d50e09430db776"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 turtle_actionlib/ShapeAction.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/turtle_actionlib/ShapeAction.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_turtle_actionlib_ShapeAction_h
+#define _ROS_turtle_actionlib_ShapeAction_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "turtle_actionlib/ShapeActionGoal.h"
+#include "turtle_actionlib/ShapeActionResult.h"
+#include "turtle_actionlib/ShapeActionFeedback.h"
+
+namespace turtle_actionlib
+{
+
+  class ShapeAction : public ros::Msg
+  {
+    public:
+      turtle_actionlib::ShapeActionGoal action_goal;
+      turtle_actionlib::ShapeActionResult action_result;
+      turtle_actionlib::ShapeActionFeedback action_feedback;
+
+    ShapeAction():
+      action_goal(),
+      action_result(),
+      action_feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->action_goal.serialize(outbuffer + offset);
+      offset += this->action_result.serialize(outbuffer + offset);
+      offset += this->action_feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->action_goal.deserialize(inbuffer + offset);
+      offset += this->action_result.deserialize(inbuffer + offset);
+      offset += this->action_feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "turtle_actionlib/ShapeAction"; };
+    const char * getMD5(){ return "d73b17d6237a925511f5d7727a1dc903"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 turtle_actionlib/ShapeActionFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/turtle_actionlib/ShapeActionFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_turtle_actionlib_ShapeActionFeedback_h
+#define _ROS_turtle_actionlib_ShapeActionFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "turtle_actionlib/ShapeFeedback.h"
+
+namespace turtle_actionlib
+{
+
+  class ShapeActionFeedback : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalStatus status;
+      turtle_actionlib::ShapeFeedback feedback;
+
+    ShapeActionFeedback():
+      header(),
+      status(),
+      feedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->feedback.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->feedback.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "turtle_actionlib/ShapeActionFeedback"; };
+    const char * getMD5(){ return "aae20e09065c3809e8a8e87c4c8953fd"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 turtle_actionlib/ShapeActionGoal.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/turtle_actionlib/ShapeActionGoal.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_turtle_actionlib_ShapeActionGoal_h
+#define _ROS_turtle_actionlib_ShapeActionGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalID.h"
+#include "turtle_actionlib/ShapeGoal.h"
+
+namespace turtle_actionlib
+{
+
+  class ShapeActionGoal : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalID goal_id;
+      turtle_actionlib::ShapeGoal goal;
+
+    ShapeActionGoal():
+      header(),
+      goal_id(),
+      goal()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->goal_id.serialize(outbuffer + offset);
+      offset += this->goal.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->goal_id.deserialize(inbuffer + offset);
+      offset += this->goal.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "turtle_actionlib/ShapeActionGoal"; };
+    const char * getMD5(){ return "dbfccd187f2ec9c593916447ffd6cc77"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 turtle_actionlib/ShapeActionResult.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/turtle_actionlib/ShapeActionResult.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,53 @@
+#ifndef _ROS_turtle_actionlib_ShapeActionResult_h
+#define _ROS_turtle_actionlib_ShapeActionResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "actionlib_msgs/GoalStatus.h"
+#include "turtle_actionlib/ShapeResult.h"
+
+namespace turtle_actionlib
+{
+
+  class ShapeActionResult : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      actionlib_msgs::GoalStatus status;
+      turtle_actionlib::ShapeResult result;
+
+    ShapeActionResult():
+      header(),
+      status(),
+      result()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->status.serialize(outbuffer + offset);
+      offset += this->result.serialize(outbuffer + offset);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->status.deserialize(inbuffer + offset);
+      offset += this->result.deserialize(inbuffer + offset);
+     return offset;
+    }
+
+    const char * getType(){ return "turtle_actionlib/ShapeActionResult"; };
+    const char * getMD5(){ return "c8d13d5d140f1047a2e4d3bf5c045822"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 turtle_actionlib/ShapeFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/turtle_actionlib/ShapeFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,38 @@
+#ifndef _ROS_turtle_actionlib_ShapeFeedback_h
+#define _ROS_turtle_actionlib_ShapeFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtle_actionlib
+{
+
+  class ShapeFeedback : public ros::Msg
+  {
+    public:
+
+    ShapeFeedback()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return "turtle_actionlib/ShapeFeedback"; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 turtle_actionlib/ShapeGoal.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/turtle_actionlib/ShapeGoal.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,84 @@
+#ifndef _ROS_turtle_actionlib_ShapeGoal_h
+#define _ROS_turtle_actionlib_ShapeGoal_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtle_actionlib
+{
+
+  class ShapeGoal : public ros::Msg
+  {
+    public:
+      int32_t edges;
+      float radius;
+
+    ShapeGoal():
+      edges(0),
+      radius(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_edges;
+      u_edges.real = this->edges;
+      *(outbuffer + offset + 0) = (u_edges.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_edges.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_edges.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_edges.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->edges);
+      union {
+        float real;
+        uint32_t base;
+      } u_radius;
+      u_radius.real = this->radius;
+      *(outbuffer + offset + 0) = (u_radius.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_radius.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_radius.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_radius.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->radius);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_edges;
+      u_edges.base = 0;
+      u_edges.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_edges.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_edges.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_edges.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->edges = u_edges.real;
+      offset += sizeof(this->edges);
+      union {
+        float real;
+        uint32_t base;
+      } u_radius;
+      u_radius.base = 0;
+      u_radius.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_radius.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_radius.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_radius.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->radius = u_radius.real;
+      offset += sizeof(this->radius);
+     return offset;
+    }
+
+    const char * getType(){ return "turtle_actionlib/ShapeGoal"; };
+    const char * getMD5(){ return "3b9202ab7292cebe5a95ab2bf6b9c091"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 turtle_actionlib/ShapeResult.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/turtle_actionlib/ShapeResult.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,84 @@
+#ifndef _ROS_turtle_actionlib_ShapeResult_h
+#define _ROS_turtle_actionlib_ShapeResult_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtle_actionlib
+{
+
+  class ShapeResult : public ros::Msg
+  {
+    public:
+      float interior_angle;
+      float apothem;
+
+    ShapeResult():
+      interior_angle(0),
+      apothem(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_interior_angle;
+      u_interior_angle.real = this->interior_angle;
+      *(outbuffer + offset + 0) = (u_interior_angle.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_interior_angle.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_interior_angle.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_interior_angle.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->interior_angle);
+      union {
+        float real;
+        uint32_t base;
+      } u_apothem;
+      u_apothem.real = this->apothem;
+      *(outbuffer + offset + 0) = (u_apothem.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_apothem.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_apothem.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_apothem.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->apothem);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_interior_angle;
+      u_interior_angle.base = 0;
+      u_interior_angle.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_interior_angle.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_interior_angle.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_interior_angle.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->interior_angle = u_interior_angle.real;
+      offset += sizeof(this->interior_angle);
+      union {
+        float real;
+        uint32_t base;
+      } u_apothem;
+      u_apothem.base = 0;
+      u_apothem.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_apothem.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_apothem.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_apothem.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->apothem = u_apothem.real;
+      offset += sizeof(this->apothem);
+     return offset;
+    }
+
+    const char * getType(){ return "turtle_actionlib/ShapeResult"; };
+    const char * getMD5(){ return "b06c6e2225f820dbc644270387cd1a7c"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 turtle_actionlib/Velocity.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/turtle_actionlib/Velocity.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,84 @@
+#ifndef _ROS_turtle_actionlib_Velocity_h
+#define _ROS_turtle_actionlib_Velocity_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtle_actionlib
+{
+
+  class Velocity : public ros::Msg
+  {
+    public:
+      float linear;
+      float angular;
+
+    Velocity():
+      linear(0),
+      angular(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_linear;
+      u_linear.real = this->linear;
+      *(outbuffer + offset + 0) = (u_linear.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_linear.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_linear.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_linear.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->linear);
+      union {
+        float real;
+        uint32_t base;
+      } u_angular;
+      u_angular.real = this->angular;
+      *(outbuffer + offset + 0) = (u_angular.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angular.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angular.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angular.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->angular);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_linear;
+      u_linear.base = 0;
+      u_linear.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_linear.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_linear.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_linear.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->linear = u_linear.real;
+      offset += sizeof(this->linear);
+      union {
+        float real;
+        uint32_t base;
+      } u_angular;
+      u_angular.base = 0;
+      u_angular.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angular.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angular.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angular.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->angular = u_angular.real;
+      offset += sizeof(this->angular);
+     return offset;
+    }
+
+    const char * getType(){ return "turtle_actionlib/Velocity"; };
+    const char * getMD5(){ return "9d5c2dcd348ac8f76ce2a4307bd63a13"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 turtlesim/Color.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/turtlesim/Color.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,56 @@
+#ifndef _ROS_turtlesim_Color_h
+#define _ROS_turtlesim_Color_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtlesim
+{
+
+  class Color : public ros::Msg
+  {
+    public:
+      uint8_t r;
+      uint8_t g;
+      uint8_t b;
+
+    Color():
+      r(0),
+      g(0),
+      b(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->r >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->r);
+      *(outbuffer + offset + 0) = (this->g >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->g);
+      *(outbuffer + offset + 0) = (this->b >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->b);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->r =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->r);
+      this->g =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->g);
+      this->b =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->b);
+     return offset;
+    }
+
+    const char * getType(){ return "turtlesim/Color"; };
+    const char * getMD5(){ return "353891e354491c51aabe32df673fb446"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 turtlesim/Kill.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/turtlesim/Kill.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,86 @@
+#ifndef _ROS_SERVICE_Kill_h
+#define _ROS_SERVICE_Kill_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtlesim
+{
+
+static const char KILL[] = "turtlesim/Kill";
+
+  class KillRequest : public ros::Msg
+  {
+    public:
+      const char* name;
+
+    KillRequest():
+      name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+     return offset;
+    }
+
+    const char * getType(){ return KILL; };
+    const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; };
+
+  };
+
+  class KillResponse : public ros::Msg
+  {
+    public:
+
+    KillResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return KILL; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class Kill {
+    public:
+    typedef KillRequest Request;
+    typedef KillResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 turtlesim/Pose.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/turtlesim/Pose.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,153 @@
+#ifndef _ROS_turtlesim_Pose_h
+#define _ROS_turtlesim_Pose_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtlesim
+{
+
+  class Pose : public ros::Msg
+  {
+    public:
+      float x;
+      float y;
+      float theta;
+      float linear_velocity;
+      float angular_velocity;
+
+    Pose():
+      x(0),
+      y(0),
+      theta(0),
+      linear_velocity(0),
+      angular_velocity(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_x;
+      u_x.real = this->x;
+      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->x);
+      union {
+        float real;
+        uint32_t base;
+      } u_y;
+      u_y.real = this->y;
+      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->y);
+      union {
+        float real;
+        uint32_t base;
+      } u_theta;
+      u_theta.real = this->theta;
+      *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->theta);
+      union {
+        float real;
+        uint32_t base;
+      } u_linear_velocity;
+      u_linear_velocity.real = this->linear_velocity;
+      *(outbuffer + offset + 0) = (u_linear_velocity.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_linear_velocity.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_linear_velocity.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_linear_velocity.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->linear_velocity);
+      union {
+        float real;
+        uint32_t base;
+      } u_angular_velocity;
+      u_angular_velocity.real = this->angular_velocity;
+      *(outbuffer + offset + 0) = (u_angular_velocity.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angular_velocity.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angular_velocity.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angular_velocity.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->angular_velocity);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_x;
+      u_x.base = 0;
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->x = u_x.real;
+      offset += sizeof(this->x);
+      union {
+        float real;
+        uint32_t base;
+      } u_y;
+      u_y.base = 0;
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->y = u_y.real;
+      offset += sizeof(this->y);
+      union {
+        float real;
+        uint32_t base;
+      } u_theta;
+      u_theta.base = 0;
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->theta = u_theta.real;
+      offset += sizeof(this->theta);
+      union {
+        float real;
+        uint32_t base;
+      } u_linear_velocity;
+      u_linear_velocity.base = 0;
+      u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_linear_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->linear_velocity = u_linear_velocity.real;
+      offset += sizeof(this->linear_velocity);
+      union {
+        float real;
+        uint32_t base;
+      } u_angular_velocity;
+      u_angular_velocity.base = 0;
+      u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angular_velocity.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->angular_velocity = u_angular_velocity.real;
+      offset += sizeof(this->angular_velocity);
+     return offset;
+    }
+
+    const char * getType(){ return "turtlesim/Pose"; };
+    const char * getMD5(){ return "863b248d5016ca62ea2e895ae5265cf9"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 turtlesim/SetPen.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/turtlesim/SetPen.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,100 @@
+#ifndef _ROS_SERVICE_SetPen_h
+#define _ROS_SERVICE_SetPen_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtlesim
+{
+
+static const char SETPEN[] = "turtlesim/SetPen";
+
+  class SetPenRequest : public ros::Msg
+  {
+    public:
+      uint8_t r;
+      uint8_t g;
+      uint8_t b;
+      uint8_t width;
+      uint8_t off;
+
+    SetPenRequest():
+      r(0),
+      g(0),
+      b(0),
+      width(0),
+      off(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->r >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->r);
+      *(outbuffer + offset + 0) = (this->g >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->g);
+      *(outbuffer + offset + 0) = (this->b >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->b);
+      *(outbuffer + offset + 0) = (this->width >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->width);
+      *(outbuffer + offset + 0) = (this->off >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->off);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->r =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->r);
+      this->g =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->g);
+      this->b =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->b);
+      this->width =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->width);
+      this->off =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->off);
+     return offset;
+    }
+
+    const char * getType(){ return SETPEN; };
+    const char * getMD5(){ return "9f452acce566bf0c0954594f69a8e41b"; };
+
+  };
+
+  class SetPenResponse : public ros::Msg
+  {
+    public:
+
+    SetPenResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return SETPEN; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class SetPen {
+    public:
+    typedef SetPenRequest Request;
+    typedef SetPenResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 turtlesim/Spawn.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/turtlesim/Spawn.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,171 @@
+#ifndef _ROS_SERVICE_Spawn_h
+#define _ROS_SERVICE_Spawn_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtlesim
+{
+
+static const char SPAWN[] = "turtlesim/Spawn";
+
+  class SpawnRequest : public ros::Msg
+  {
+    public:
+      float x;
+      float y;
+      float theta;
+      const char* name;
+
+    SpawnRequest():
+      x(0),
+      y(0),
+      theta(0),
+      name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_x;
+      u_x.real = this->x;
+      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->x);
+      union {
+        float real;
+        uint32_t base;
+      } u_y;
+      u_y.real = this->y;
+      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->y);
+      union {
+        float real;
+        uint32_t base;
+      } u_theta;
+      u_theta.real = this->theta;
+      *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->theta);
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_x;
+      u_x.base = 0;
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->x = u_x.real;
+      offset += sizeof(this->x);
+      union {
+        float real;
+        uint32_t base;
+      } u_y;
+      u_y.base = 0;
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->y = u_y.real;
+      offset += sizeof(this->y);
+      union {
+        float real;
+        uint32_t base;
+      } u_theta;
+      u_theta.base = 0;
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->theta = u_theta.real;
+      offset += sizeof(this->theta);
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+     return offset;
+    }
+
+    const char * getType(){ return SPAWN; };
+    const char * getMD5(){ return "57f001c49ab7b11d699f8606c1f4f7ff"; };
+
+  };
+
+  class SpawnResponse : public ros::Msg
+  {
+    public:
+      const char* name;
+
+    SpawnResponse():
+      name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+     return offset;
+    }
+
+    const char * getType(){ return SPAWN; };
+    const char * getMD5(){ return "c1f3d28f1b044c871e6eff2e9fc3c667"; };
+
+  };
+
+  class Spawn {
+    public:
+    typedef SpawnRequest Request;
+    typedef SpawnResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 turtlesim/TeleportAbsolute.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/turtlesim/TeleportAbsolute.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,139 @@
+#ifndef _ROS_SERVICE_TeleportAbsolute_h
+#define _ROS_SERVICE_TeleportAbsolute_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtlesim
+{
+
+static const char TELEPORTABSOLUTE[] = "turtlesim/TeleportAbsolute";
+
+  class TeleportAbsoluteRequest : public ros::Msg
+  {
+    public:
+      float x;
+      float y;
+      float theta;
+
+    TeleportAbsoluteRequest():
+      x(0),
+      y(0),
+      theta(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_x;
+      u_x.real = this->x;
+      *(outbuffer + offset + 0) = (u_x.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_x.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_x.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_x.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->x);
+      union {
+        float real;
+        uint32_t base;
+      } u_y;
+      u_y.real = this->y;
+      *(outbuffer + offset + 0) = (u_y.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_y.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_y.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_y.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->y);
+      union {
+        float real;
+        uint32_t base;
+      } u_theta;
+      u_theta.real = this->theta;
+      *(outbuffer + offset + 0) = (u_theta.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_theta.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_theta.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_theta.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->theta);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_x;
+      u_x.base = 0;
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_x.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->x = u_x.real;
+      offset += sizeof(this->x);
+      union {
+        float real;
+        uint32_t base;
+      } u_y;
+      u_y.base = 0;
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_y.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->y = u_y.real;
+      offset += sizeof(this->y);
+      union {
+        float real;
+        uint32_t base;
+      } u_theta;
+      u_theta.base = 0;
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_theta.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->theta = u_theta.real;
+      offset += sizeof(this->theta);
+     return offset;
+    }
+
+    const char * getType(){ return TELEPORTABSOLUTE; };
+    const char * getMD5(){ return "a130bc60ee6513855dc62ea83fcc5b20"; };
+
+  };
+
+  class TeleportAbsoluteResponse : public ros::Msg
+  {
+    public:
+
+    TeleportAbsoluteResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return TELEPORTABSOLUTE; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class TeleportAbsolute {
+    public:
+    typedef TeleportAbsoluteRequest Request;
+    typedef TeleportAbsoluteResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 turtlesim/TeleportRelative.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/turtlesim/TeleportRelative.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,116 @@
+#ifndef _ROS_SERVICE_TeleportRelative_h
+#define _ROS_SERVICE_TeleportRelative_h
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace turtlesim
+{
+
+static const char TELEPORTRELATIVE[] = "turtlesim/TeleportRelative";
+
+  class TeleportRelativeRequest : public ros::Msg
+  {
+    public:
+      float linear;
+      float angular;
+
+    TeleportRelativeRequest():
+      linear(0),
+      angular(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_linear;
+      u_linear.real = this->linear;
+      *(outbuffer + offset + 0) = (u_linear.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_linear.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_linear.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_linear.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->linear);
+      union {
+        float real;
+        uint32_t base;
+      } u_angular;
+      u_angular.real = this->angular;
+      *(outbuffer + offset + 0) = (u_angular.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_angular.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_angular.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_angular.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->angular);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_linear;
+      u_linear.base = 0;
+      u_linear.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_linear.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_linear.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_linear.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->linear = u_linear.real;
+      offset += sizeof(this->linear);
+      union {
+        float real;
+        uint32_t base;
+      } u_angular;
+      u_angular.base = 0;
+      u_angular.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_angular.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_angular.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_angular.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->angular = u_angular.real;
+      offset += sizeof(this->angular);
+     return offset;
+    }
+
+    const char * getType(){ return TELEPORTRELATIVE; };
+    const char * getMD5(){ return "9d5c2dcd348ac8f76ce2a4307bd63a13"; };
+
+  };
+
+  class TeleportRelativeResponse : public ros::Msg
+  {
+    public:
+
+    TeleportRelativeResponse()
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+     return offset;
+    }
+
+    const char * getType(){ return TELEPORTRELATIVE; };
+    const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
+
+  };
+
+  class TeleportRelative {
+    public:
+    typedef TeleportRelativeRequest Request;
+    typedef TeleportRelativeResponse Response;
+  };
+
+}
+#endif
diff -r 000000000000 -r a906bb7c7831 visualization_msgs/ImageMarker.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/visualization_msgs/ImageMarker.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,241 @@
+#ifndef _ROS_visualization_msgs_ImageMarker_h
+#define _ROS_visualization_msgs_ImageMarker_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Point.h"
+#include "std_msgs/ColorRGBA.h"
+#include "ros/duration.h"
+
+namespace visualization_msgs
+{
+
+  class ImageMarker : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      const char* ns;
+      int32_t id;
+      int32_t type;
+      int32_t action;
+      geometry_msgs::Point position;
+      float scale;
+      std_msgs::ColorRGBA outline_color;
+      uint8_t filled;
+      std_msgs::ColorRGBA fill_color;
+      ros::Duration lifetime;
+      uint8_t points_length;
+      geometry_msgs::Point st_points;
+      geometry_msgs::Point * points;
+      uint8_t outline_colors_length;
+      std_msgs::ColorRGBA st_outline_colors;
+      std_msgs::ColorRGBA * outline_colors;
+      enum { CIRCLE = 0 };
+      enum { LINE_STRIP = 1 };
+      enum { LINE_LIST = 2 };
+      enum { POLYGON = 3 };
+      enum { POINTS = 4 };
+      enum { ADD = 0 };
+      enum { REMOVE = 1 };
+
+    ImageMarker():
+      header(),
+      ns(""),
+      id(0),
+      type(0),
+      action(0),
+      position(),
+      scale(0),
+      outline_color(),
+      filled(0),
+      fill_color(),
+      lifetime(),
+      points_length(0), points(NULL),
+      outline_colors_length(0), outline_colors(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      uint32_t length_ns = strlen(this->ns);
+      memcpy(outbuffer + offset, &length_ns, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->ns, length_ns);
+      offset += length_ns;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_id;
+      u_id.real = this->id;
+      *(outbuffer + offset + 0) = (u_id.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_id.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_id.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_id.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->id);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_type;
+      u_type.real = this->type;
+      *(outbuffer + offset + 0) = (u_type.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_type.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_type.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_type.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->type);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_action;
+      u_action.real = this->action;
+      *(outbuffer + offset + 0) = (u_action.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_action.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_action.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_action.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->action);
+      offset += this->position.serialize(outbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_scale;
+      u_scale.real = this->scale;
+      *(outbuffer + offset + 0) = (u_scale.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_scale.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_scale.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_scale.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->scale);
+      offset += this->outline_color.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->filled >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->filled);
+      offset += this->fill_color.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->lifetime.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->lifetime.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->lifetime.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->lifetime.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->lifetime.sec);
+      *(outbuffer + offset + 0) = (this->lifetime.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->lifetime.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->lifetime.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->lifetime.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->lifetime.nsec);
+      *(outbuffer + offset++) = points_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < points_length; i++){
+      offset += this->points[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = outline_colors_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < outline_colors_length; i++){
+      offset += this->outline_colors[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t length_ns;
+      memcpy(&length_ns, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_ns; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_ns-1]=0;
+      this->ns = (char *)(inbuffer + offset-1);
+      offset += length_ns;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_id;
+      u_id.base = 0;
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->id = u_id.real;
+      offset += sizeof(this->id);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_type;
+      u_type.base = 0;
+      u_type.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_type.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_type.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_type.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->type = u_type.real;
+      offset += sizeof(this->type);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_action;
+      u_action.base = 0;
+      u_action.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_action.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_action.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_action.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->action = u_action.real;
+      offset += sizeof(this->action);
+      offset += this->position.deserialize(inbuffer + offset);
+      union {
+        float real;
+        uint32_t base;
+      } u_scale;
+      u_scale.base = 0;
+      u_scale.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_scale.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_scale.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_scale.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->scale = u_scale.real;
+      offset += sizeof(this->scale);
+      offset += this->outline_color.deserialize(inbuffer + offset);
+      this->filled =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->filled);
+      offset += this->fill_color.deserialize(inbuffer + offset);
+      this->lifetime.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->lifetime.sec);
+      this->lifetime.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->lifetime.nsec);
+      uint8_t points_lengthT = *(inbuffer + offset++);
+      if(points_lengthT > points_length)
+        this->points = (geometry_msgs::Point*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point));
+      offset += 3;
+      points_length = points_lengthT;
+      for( uint8_t i = 0; i < points_length; i++){
+      offset += this->st_points.deserialize(inbuffer + offset);
+        memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point));
+      }
+      uint8_t outline_colors_lengthT = *(inbuffer + offset++);
+      if(outline_colors_lengthT > outline_colors_length)
+        this->outline_colors = (std_msgs::ColorRGBA*)realloc(this->outline_colors, outline_colors_lengthT * sizeof(std_msgs::ColorRGBA));
+      offset += 3;
+      outline_colors_length = outline_colors_lengthT;
+      for( uint8_t i = 0; i < outline_colors_length; i++){
+      offset += this->st_outline_colors.deserialize(inbuffer + offset);
+        memcpy( &(this->outline_colors[i]), &(this->st_outline_colors), sizeof(std_msgs::ColorRGBA));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "visualization_msgs/ImageMarker"; };
+    const char * getMD5(){ return "1de93c67ec8858b831025a08fbf1b35c"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 visualization_msgs/InteractiveMarker.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/visualization_msgs/InteractiveMarker.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,145 @@
+#ifndef _ROS_visualization_msgs_InteractiveMarker_h
+#define _ROS_visualization_msgs_InteractiveMarker_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Pose.h"
+#include "visualization_msgs/MenuEntry.h"
+#include "visualization_msgs/InteractiveMarkerControl.h"
+
+namespace visualization_msgs
+{
+
+  class InteractiveMarker : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      geometry_msgs::Pose pose;
+      const char* name;
+      const char* description;
+      float scale;
+      uint8_t menu_entries_length;
+      visualization_msgs::MenuEntry st_menu_entries;
+      visualization_msgs::MenuEntry * menu_entries;
+      uint8_t controls_length;
+      visualization_msgs::InteractiveMarkerControl st_controls;
+      visualization_msgs::InteractiveMarkerControl * controls;
+
+    InteractiveMarker():
+      header(),
+      pose(),
+      name(""),
+      description(""),
+      scale(0),
+      menu_entries_length(0), menu_entries(NULL),
+      controls_length(0), controls(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->pose.serialize(outbuffer + offset);
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      uint32_t length_description = strlen(this->description);
+      memcpy(outbuffer + offset, &length_description, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->description, length_description);
+      offset += length_description;
+      union {
+        float real;
+        uint32_t base;
+      } u_scale;
+      u_scale.real = this->scale;
+      *(outbuffer + offset + 0) = (u_scale.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_scale.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_scale.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_scale.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->scale);
+      *(outbuffer + offset++) = menu_entries_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < menu_entries_length; i++){
+      offset += this->menu_entries[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = controls_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < controls_length; i++){
+      offset += this->controls[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->pose.deserialize(inbuffer + offset);
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      uint32_t length_description;
+      memcpy(&length_description, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_description; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_description-1]=0;
+      this->description = (char *)(inbuffer + offset-1);
+      offset += length_description;
+      union {
+        float real;
+        uint32_t base;
+      } u_scale;
+      u_scale.base = 0;
+      u_scale.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_scale.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_scale.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_scale.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->scale = u_scale.real;
+      offset += sizeof(this->scale);
+      uint8_t menu_entries_lengthT = *(inbuffer + offset++);
+      if(menu_entries_lengthT > menu_entries_length)
+        this->menu_entries = (visualization_msgs::MenuEntry*)realloc(this->menu_entries, menu_entries_lengthT * sizeof(visualization_msgs::MenuEntry));
+      offset += 3;
+      menu_entries_length = menu_entries_lengthT;
+      for( uint8_t i = 0; i < menu_entries_length; i++){
+      offset += this->st_menu_entries.deserialize(inbuffer + offset);
+        memcpy( &(this->menu_entries[i]), &(this->st_menu_entries), sizeof(visualization_msgs::MenuEntry));
+      }
+      uint8_t controls_lengthT = *(inbuffer + offset++);
+      if(controls_lengthT > controls_length)
+        this->controls = (visualization_msgs::InteractiveMarkerControl*)realloc(this->controls, controls_lengthT * sizeof(visualization_msgs::InteractiveMarkerControl));
+      offset += 3;
+      controls_length = controls_lengthT;
+      for( uint8_t i = 0; i < controls_length; i++){
+      offset += this->st_controls.deserialize(inbuffer + offset);
+        memcpy( &(this->controls[i]), &(this->st_controls), sizeof(visualization_msgs::InteractiveMarkerControl));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "visualization_msgs/InteractiveMarker"; };
+    const char * getMD5(){ return "dd86d22909d5a3364b384492e35c10af"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 visualization_msgs/InteractiveMarkerControl.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/visualization_msgs/InteractiveMarkerControl.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,155 @@
+#ifndef _ROS_visualization_msgs_InteractiveMarkerControl_h
+#define _ROS_visualization_msgs_InteractiveMarkerControl_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "geometry_msgs/Quaternion.h"
+#include "visualization_msgs/Marker.h"
+
+namespace visualization_msgs
+{
+
+  class InteractiveMarkerControl : public ros::Msg
+  {
+    public:
+      const char* name;
+      geometry_msgs::Quaternion orientation;
+      uint8_t orientation_mode;
+      uint8_t interaction_mode;
+      bool always_visible;
+      uint8_t markers_length;
+      visualization_msgs::Marker st_markers;
+      visualization_msgs::Marker * markers;
+      bool independent_marker_orientation;
+      const char* description;
+      enum { INHERIT =  0 };
+      enum { FIXED =  1 };
+      enum { VIEW_FACING =  2 };
+      enum { NONE =  0 };
+      enum { MENU =  1 };
+      enum { BUTTON =  2 };
+      enum { MOVE_AXIS =  3 };
+      enum { MOVE_PLANE =  4 };
+      enum { ROTATE_AXIS =  5 };
+      enum { MOVE_ROTATE =  6 };
+      enum { MOVE_3D =  7 };
+      enum { ROTATE_3D =  8 };
+      enum { MOVE_ROTATE_3D =  9 };
+
+    InteractiveMarkerControl():
+      name(""),
+      orientation(),
+      orientation_mode(0),
+      interaction_mode(0),
+      always_visible(0),
+      markers_length(0), markers(NULL),
+      independent_marker_orientation(0),
+      description("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      offset += this->orientation.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->orientation_mode >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->orientation_mode);
+      *(outbuffer + offset + 0) = (this->interaction_mode >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->interaction_mode);
+      union {
+        bool real;
+        uint8_t base;
+      } u_always_visible;
+      u_always_visible.real = this->always_visible;
+      *(outbuffer + offset + 0) = (u_always_visible.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->always_visible);
+      *(outbuffer + offset++) = markers_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < markers_length; i++){
+      offset += this->markers[i].serialize(outbuffer + offset);
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_independent_marker_orientation;
+      u_independent_marker_orientation.real = this->independent_marker_orientation;
+      *(outbuffer + offset + 0) = (u_independent_marker_orientation.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->independent_marker_orientation);
+      uint32_t length_description = strlen(this->description);
+      memcpy(outbuffer + offset, &length_description, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->description, length_description);
+      offset += length_description;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+      offset += this->orientation.deserialize(inbuffer + offset);
+      this->orientation_mode =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->orientation_mode);
+      this->interaction_mode =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->interaction_mode);
+      union {
+        bool real;
+        uint8_t base;
+      } u_always_visible;
+      u_always_visible.base = 0;
+      u_always_visible.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->always_visible = u_always_visible.real;
+      offset += sizeof(this->always_visible);
+      uint8_t markers_lengthT = *(inbuffer + offset++);
+      if(markers_lengthT > markers_length)
+        this->markers = (visualization_msgs::Marker*)realloc(this->markers, markers_lengthT * sizeof(visualization_msgs::Marker));
+      offset += 3;
+      markers_length = markers_lengthT;
+      for( uint8_t i = 0; i < markers_length; i++){
+      offset += this->st_markers.deserialize(inbuffer + offset);
+        memcpy( &(this->markers[i]), &(this->st_markers), sizeof(visualization_msgs::Marker));
+      }
+      union {
+        bool real;
+        uint8_t base;
+      } u_independent_marker_orientation;
+      u_independent_marker_orientation.base = 0;
+      u_independent_marker_orientation.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->independent_marker_orientation = u_independent_marker_orientation.real;
+      offset += sizeof(this->independent_marker_orientation);
+      uint32_t length_description;
+      memcpy(&length_description, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_description; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_description-1]=0;
+      this->description = (char *)(inbuffer + offset-1);
+      offset += length_description;
+     return offset;
+    }
+
+    const char * getType(){ return "visualization_msgs/InteractiveMarkerControl"; };
+    const char * getMD5(){ return "b3c81e785788195d1840b86c28da1aac"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 visualization_msgs/InteractiveMarkerFeedback.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/visualization_msgs/InteractiveMarkerFeedback.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,142 @@
+#ifndef _ROS_visualization_msgs_InteractiveMarkerFeedback_h
+#define _ROS_visualization_msgs_InteractiveMarkerFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Pose.h"
+#include "geometry_msgs/Point.h"
+
+namespace visualization_msgs
+{
+
+  class InteractiveMarkerFeedback : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      const char* client_id;
+      const char* marker_name;
+      const char* control_name;
+      uint8_t event_type;
+      geometry_msgs::Pose pose;
+      uint32_t menu_entry_id;
+      geometry_msgs::Point mouse_point;
+      bool mouse_point_valid;
+      enum { KEEP_ALIVE =  0 };
+      enum { POSE_UPDATE =  1 };
+      enum { MENU_SELECT =  2 };
+      enum { BUTTON_CLICK =  3 };
+      enum { MOUSE_DOWN =  4 };
+      enum { MOUSE_UP =  5 };
+
+    InteractiveMarkerFeedback():
+      header(),
+      client_id(""),
+      marker_name(""),
+      control_name(""),
+      event_type(0),
+      pose(),
+      menu_entry_id(0),
+      mouse_point(),
+      mouse_point_valid(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      uint32_t length_client_id = strlen(this->client_id);
+      memcpy(outbuffer + offset, &length_client_id, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->client_id, length_client_id);
+      offset += length_client_id;
+      uint32_t length_marker_name = strlen(this->marker_name);
+      memcpy(outbuffer + offset, &length_marker_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->marker_name, length_marker_name);
+      offset += length_marker_name;
+      uint32_t length_control_name = strlen(this->control_name);
+      memcpy(outbuffer + offset, &length_control_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->control_name, length_control_name);
+      offset += length_control_name;
+      *(outbuffer + offset + 0) = (this->event_type >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->event_type);
+      offset += this->pose.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->menu_entry_id >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->menu_entry_id >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->menu_entry_id >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->menu_entry_id >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->menu_entry_id);
+      offset += this->mouse_point.serialize(outbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_mouse_point_valid;
+      u_mouse_point_valid.real = this->mouse_point_valid;
+      *(outbuffer + offset + 0) = (u_mouse_point_valid.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->mouse_point_valid);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t length_client_id;
+      memcpy(&length_client_id, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_client_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_client_id-1]=0;
+      this->client_id = (char *)(inbuffer + offset-1);
+      offset += length_client_id;
+      uint32_t length_marker_name;
+      memcpy(&length_marker_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_marker_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_marker_name-1]=0;
+      this->marker_name = (char *)(inbuffer + offset-1);
+      offset += length_marker_name;
+      uint32_t length_control_name;
+      memcpy(&length_control_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_control_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_control_name-1]=0;
+      this->control_name = (char *)(inbuffer + offset-1);
+      offset += length_control_name;
+      this->event_type =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->event_type);
+      offset += this->pose.deserialize(inbuffer + offset);
+      this->menu_entry_id =  ((uint32_t) (*(inbuffer + offset)));
+      this->menu_entry_id |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->menu_entry_id |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->menu_entry_id |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->menu_entry_id);
+      offset += this->mouse_point.deserialize(inbuffer + offset);
+      union {
+        bool real;
+        uint8_t base;
+      } u_mouse_point_valid;
+      u_mouse_point_valid.base = 0;
+      u_mouse_point_valid.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->mouse_point_valid = u_mouse_point_valid.real;
+      offset += sizeof(this->mouse_point_valid);
+     return offset;
+    }
+
+    const char * getType(){ return "visualization_msgs/InteractiveMarkerFeedback"; };
+    const char * getMD5(){ return "ab0f1eee058667e28c19ff3ffc3f4b78"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 visualization_msgs/InteractiveMarkerInit.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/visualization_msgs/InteractiveMarkerInit.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,98 @@
+#ifndef _ROS_visualization_msgs_InteractiveMarkerInit_h
+#define _ROS_visualization_msgs_InteractiveMarkerInit_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "visualization_msgs/InteractiveMarker.h"
+
+namespace visualization_msgs
+{
+
+  class InteractiveMarkerInit : public ros::Msg
+  {
+    public:
+      const char* server_id;
+      uint64_t seq_num;
+      uint8_t markers_length;
+      visualization_msgs::InteractiveMarker st_markers;
+      visualization_msgs::InteractiveMarker * markers;
+
+    InteractiveMarkerInit():
+      server_id(""),
+      seq_num(0),
+      markers_length(0), markers(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_server_id = strlen(this->server_id);
+      memcpy(outbuffer + offset, &length_server_id, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->server_id, length_server_id);
+      offset += length_server_id;
+      union {
+        uint64_t real;
+        uint32_t base;
+      } u_seq_num;
+      u_seq_num.real = this->seq_num;
+      *(outbuffer + offset + 0) = (u_seq_num.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_seq_num.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_seq_num.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_seq_num.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->seq_num);
+      *(outbuffer + offset++) = markers_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < markers_length; i++){
+      offset += this->markers[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_server_id;
+      memcpy(&length_server_id, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_server_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_server_id-1]=0;
+      this->server_id = (char *)(inbuffer + offset-1);
+      offset += length_server_id;
+      union {
+        uint64_t real;
+        uint32_t base;
+      } u_seq_num;
+      u_seq_num.base = 0;
+      u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->seq_num = u_seq_num.real;
+      offset += sizeof(this->seq_num);
+      uint8_t markers_lengthT = *(inbuffer + offset++);
+      if(markers_lengthT > markers_length)
+        this->markers = (visualization_msgs::InteractiveMarker*)realloc(this->markers, markers_lengthT * sizeof(visualization_msgs::InteractiveMarker));
+      offset += 3;
+      markers_length = markers_lengthT;
+      for( uint8_t i = 0; i < markers_length; i++){
+      offset += this->st_markers.deserialize(inbuffer + offset);
+        memcpy( &(this->markers[i]), &(this->st_markers), sizeof(visualization_msgs::InteractiveMarker));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "visualization_msgs/InteractiveMarkerInit"; };
+    const char * getMD5(){ return "d5f2c5045a72456d228676ab91048734"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 visualization_msgs/InteractiveMarkerPose.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/visualization_msgs/InteractiveMarkerPose.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,64 @@
+#ifndef _ROS_visualization_msgs_InteractiveMarkerPose_h
+#define _ROS_visualization_msgs_InteractiveMarkerPose_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Pose.h"
+
+namespace visualization_msgs
+{
+
+  class InteractiveMarkerPose : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      geometry_msgs::Pose pose;
+      const char* name;
+
+    InteractiveMarkerPose():
+      header(),
+      pose(),
+      name("")
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      offset += this->pose.serialize(outbuffer + offset);
+      uint32_t length_name = strlen(this->name);
+      memcpy(outbuffer + offset, &length_name, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->name, length_name);
+      offset += length_name;
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      offset += this->pose.deserialize(inbuffer + offset);
+      uint32_t length_name;
+      memcpy(&length_name, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_name; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_name-1]=0;
+      this->name = (char *)(inbuffer + offset-1);
+      offset += length_name;
+     return offset;
+    }
+
+    const char * getType(){ return "visualization_msgs/InteractiveMarkerPose"; };
+    const char * getMD5(){ return "a6e6833209a196a38d798dadb02c81f8"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 visualization_msgs/InteractiveMarkerUpdate.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/visualization_msgs/InteractiveMarkerUpdate.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,159 @@
+#ifndef _ROS_visualization_msgs_InteractiveMarkerUpdate_h
+#define _ROS_visualization_msgs_InteractiveMarkerUpdate_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "visualization_msgs/InteractiveMarker.h"
+#include "visualization_msgs/InteractiveMarkerPose.h"
+
+namespace visualization_msgs
+{
+
+  class InteractiveMarkerUpdate : public ros::Msg
+  {
+    public:
+      const char* server_id;
+      uint64_t seq_num;
+      uint8_t type;
+      uint8_t markers_length;
+      visualization_msgs::InteractiveMarker st_markers;
+      visualization_msgs::InteractiveMarker * markers;
+      uint8_t poses_length;
+      visualization_msgs::InteractiveMarkerPose st_poses;
+      visualization_msgs::InteractiveMarkerPose * poses;
+      uint8_t erases_length;
+      char* st_erases;
+      char* * erases;
+      enum { KEEP_ALIVE =  0 };
+      enum { UPDATE =  1 };
+
+    InteractiveMarkerUpdate():
+      server_id(""),
+      seq_num(0),
+      type(0),
+      markers_length(0), markers(NULL),
+      poses_length(0), poses(NULL),
+      erases_length(0), erases(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      uint32_t length_server_id = strlen(this->server_id);
+      memcpy(outbuffer + offset, &length_server_id, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->server_id, length_server_id);
+      offset += length_server_id;
+      union {
+        uint64_t real;
+        uint32_t base;
+      } u_seq_num;
+      u_seq_num.real = this->seq_num;
+      *(outbuffer + offset + 0) = (u_seq_num.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_seq_num.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_seq_num.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_seq_num.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->seq_num);
+      *(outbuffer + offset + 0) = (this->type >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->type);
+      *(outbuffer + offset++) = markers_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < markers_length; i++){
+      offset += this->markers[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = poses_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < poses_length; i++){
+      offset += this->poses[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = erases_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < erases_length; i++){
+      uint32_t length_erasesi = strlen(this->erases[i]);
+      memcpy(outbuffer + offset, &length_erasesi, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->erases[i], length_erasesi);
+      offset += length_erasesi;
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint32_t length_server_id;
+      memcpy(&length_server_id, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_server_id; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_server_id-1]=0;
+      this->server_id = (char *)(inbuffer + offset-1);
+      offset += length_server_id;
+      union {
+        uint64_t real;
+        uint32_t base;
+      } u_seq_num;
+      u_seq_num.base = 0;
+      u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_seq_num.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->seq_num = u_seq_num.real;
+      offset += sizeof(this->seq_num);
+      this->type =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->type);
+      uint8_t markers_lengthT = *(inbuffer + offset++);
+      if(markers_lengthT > markers_length)
+        this->markers = (visualization_msgs::InteractiveMarker*)realloc(this->markers, markers_lengthT * sizeof(visualization_msgs::InteractiveMarker));
+      offset += 3;
+      markers_length = markers_lengthT;
+      for( uint8_t i = 0; i < markers_length; i++){
+      offset += this->st_markers.deserialize(inbuffer + offset);
+        memcpy( &(this->markers[i]), &(this->st_markers), sizeof(visualization_msgs::InteractiveMarker));
+      }
+      uint8_t poses_lengthT = *(inbuffer + offset++);
+      if(poses_lengthT > poses_length)
+        this->poses = (visualization_msgs::InteractiveMarkerPose*)realloc(this->poses, poses_lengthT * sizeof(visualization_msgs::InteractiveMarkerPose));
+      offset += 3;
+      poses_length = poses_lengthT;
+      for( uint8_t i = 0; i < poses_length; i++){
+      offset += this->st_poses.deserialize(inbuffer + offset);
+        memcpy( &(this->poses[i]), &(this->st_poses), sizeof(visualization_msgs::InteractiveMarkerPose));
+      }
+      uint8_t erases_lengthT = *(inbuffer + offset++);
+      if(erases_lengthT > erases_length)
+        this->erases = (char**)realloc(this->erases, erases_lengthT * sizeof(char*));
+      offset += 3;
+      erases_length = erases_lengthT;
+      for( uint8_t i = 0; i < erases_length; i++){
+      uint32_t length_st_erases;
+      memcpy(&length_st_erases, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_st_erases; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_st_erases-1]=0;
+      this->st_erases = (char *)(inbuffer + offset-1);
+      offset += length_st_erases;
+        memcpy( &(this->erases[i]), &(this->st_erases), sizeof(char*));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "visualization_msgs/InteractiveMarkerUpdate"; };
+    const char * getMD5(){ return "710d308d0a9276d65945e92dd30b3946"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 visualization_msgs/Marker.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/visualization_msgs/Marker.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,289 @@
+#ifndef _ROS_visualization_msgs_Marker_h
+#define _ROS_visualization_msgs_Marker_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Pose.h"
+#include "geometry_msgs/Vector3.h"
+#include "std_msgs/ColorRGBA.h"
+#include "ros/duration.h"
+#include "geometry_msgs/Point.h"
+
+namespace visualization_msgs
+{
+
+  class Marker : public ros::Msg
+  {
+    public:
+      std_msgs::Header header;
+      const char* ns;
+      int32_t id;
+      int32_t type;
+      int32_t action;
+      geometry_msgs::Pose pose;
+      geometry_msgs::Vector3 scale;
+      std_msgs::ColorRGBA color;
+      ros::Duration lifetime;
+      bool frame_locked;
+      uint8_t points_length;
+      geometry_msgs::Point st_points;
+      geometry_msgs::Point * points;
+      uint8_t colors_length;
+      std_msgs::ColorRGBA st_colors;
+      std_msgs::ColorRGBA * colors;
+      const char* text;
+      const char* mesh_resource;
+      bool mesh_use_embedded_materials;
+      enum { ARROW = 0 };
+      enum { CUBE = 1 };
+      enum { SPHERE = 2 };
+      enum { CYLINDER = 3 };
+      enum { LINE_STRIP = 4 };
+      enum { LINE_LIST = 5 };
+      enum { CUBE_LIST = 6 };
+      enum { SPHERE_LIST = 7 };
+      enum { POINTS = 8 };
+      enum { TEXT_VIEW_FACING = 9 };
+      enum { MESH_RESOURCE = 10 };
+      enum { TRIANGLE_LIST = 11 };
+      enum { ADD = 0 };
+      enum { MODIFY = 0 };
+      enum { DELETE = 2 };
+      enum { DELETEALL = 3 };
+
+    Marker():
+      header(),
+      ns(""),
+      id(0),
+      type(0),
+      action(0),
+      pose(),
+      scale(),
+      color(),
+      lifetime(),
+      frame_locked(0),
+      points_length(0), points(NULL),
+      colors_length(0), colors(NULL),
+      text(""),
+      mesh_resource(""),
+      mesh_use_embedded_materials(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      offset += this->header.serialize(outbuffer + offset);
+      uint32_t length_ns = strlen(this->ns);
+      memcpy(outbuffer + offset, &length_ns, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->ns, length_ns);
+      offset += length_ns;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_id;
+      u_id.real = this->id;
+      *(outbuffer + offset + 0) = (u_id.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_id.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_id.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_id.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->id);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_type;
+      u_type.real = this->type;
+      *(outbuffer + offset + 0) = (u_type.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_type.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_type.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_type.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->type);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_action;
+      u_action.real = this->action;
+      *(outbuffer + offset + 0) = (u_action.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_action.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_action.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_action.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->action);
+      offset += this->pose.serialize(outbuffer + offset);
+      offset += this->scale.serialize(outbuffer + offset);
+      offset += this->color.serialize(outbuffer + offset);
+      *(outbuffer + offset + 0) = (this->lifetime.sec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->lifetime.sec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->lifetime.sec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->lifetime.sec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->lifetime.sec);
+      *(outbuffer + offset + 0) = (this->lifetime.nsec >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->lifetime.nsec >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->lifetime.nsec >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->lifetime.nsec >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->lifetime.nsec);
+      union {
+        bool real;
+        uint8_t base;
+      } u_frame_locked;
+      u_frame_locked.real = this->frame_locked;
+      *(outbuffer + offset + 0) = (u_frame_locked.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->frame_locked);
+      *(outbuffer + offset++) = points_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < points_length; i++){
+      offset += this->points[i].serialize(outbuffer + offset);
+      }
+      *(outbuffer + offset++) = colors_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < colors_length; i++){
+      offset += this->colors[i].serialize(outbuffer + offset);
+      }
+      uint32_t length_text = strlen(this->text);
+      memcpy(outbuffer + offset, &length_text, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->text, length_text);
+      offset += length_text;
+      uint32_t length_mesh_resource = strlen(this->mesh_resource);
+      memcpy(outbuffer + offset, &length_mesh_resource, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->mesh_resource, length_mesh_resource);
+      offset += length_mesh_resource;
+      union {
+        bool real;
+        uint8_t base;
+      } u_mesh_use_embedded_materials;
+      u_mesh_use_embedded_materials.real = this->mesh_use_embedded_materials;
+      *(outbuffer + offset + 0) = (u_mesh_use_embedded_materials.base >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->mesh_use_embedded_materials);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      offset += this->header.deserialize(inbuffer + offset);
+      uint32_t length_ns;
+      memcpy(&length_ns, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_ns; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_ns-1]=0;
+      this->ns = (char *)(inbuffer + offset-1);
+      offset += length_ns;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_id;
+      u_id.base = 0;
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_id.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->id = u_id.real;
+      offset += sizeof(this->id);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_type;
+      u_type.base = 0;
+      u_type.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_type.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_type.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_type.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->type = u_type.real;
+      offset += sizeof(this->type);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_action;
+      u_action.base = 0;
+      u_action.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_action.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_action.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_action.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->action = u_action.real;
+      offset += sizeof(this->action);
+      offset += this->pose.deserialize(inbuffer + offset);
+      offset += this->scale.deserialize(inbuffer + offset);
+      offset += this->color.deserialize(inbuffer + offset);
+      this->lifetime.sec =  ((uint32_t) (*(inbuffer + offset)));
+      this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->lifetime.sec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->lifetime.sec);
+      this->lifetime.nsec =  ((uint32_t) (*(inbuffer + offset)));
+      this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->lifetime.nsec |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->lifetime.nsec);
+      union {
+        bool real;
+        uint8_t base;
+      } u_frame_locked;
+      u_frame_locked.base = 0;
+      u_frame_locked.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->frame_locked = u_frame_locked.real;
+      offset += sizeof(this->frame_locked);
+      uint8_t points_lengthT = *(inbuffer + offset++);
+      if(points_lengthT > points_length)
+        this->points = (geometry_msgs::Point*)realloc(this->points, points_lengthT * sizeof(geometry_msgs::Point));
+      offset += 3;
+      points_length = points_lengthT;
+      for( uint8_t i = 0; i < points_length; i++){
+      offset += this->st_points.deserialize(inbuffer + offset);
+        memcpy( &(this->points[i]), &(this->st_points), sizeof(geometry_msgs::Point));
+      }
+      uint8_t colors_lengthT = *(inbuffer + offset++);
+      if(colors_lengthT > colors_length)
+        this->colors = (std_msgs::ColorRGBA*)realloc(this->colors, colors_lengthT * sizeof(std_msgs::ColorRGBA));
+      offset += 3;
+      colors_length = colors_lengthT;
+      for( uint8_t i = 0; i < colors_length; i++){
+      offset += this->st_colors.deserialize(inbuffer + offset);
+        memcpy( &(this->colors[i]), &(this->st_colors), sizeof(std_msgs::ColorRGBA));
+      }
+      uint32_t length_text;
+      memcpy(&length_text, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_text; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_text-1]=0;
+      this->text = (char *)(inbuffer + offset-1);
+      offset += length_text;
+      uint32_t length_mesh_resource;
+      memcpy(&length_mesh_resource, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_mesh_resource; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_mesh_resource-1]=0;
+      this->mesh_resource = (char *)(inbuffer + offset-1);
+      offset += length_mesh_resource;
+      union {
+        bool real;
+        uint8_t base;
+      } u_mesh_use_embedded_materials;
+      u_mesh_use_embedded_materials.base = 0;
+      u_mesh_use_embedded_materials.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      this->mesh_use_embedded_materials = u_mesh_use_embedded_materials.real;
+      offset += sizeof(this->mesh_use_embedded_materials);
+     return offset;
+    }
+
+    const char * getType(){ return "visualization_msgs/Marker"; };
+    const char * getMD5(){ return "4048c9de2a16f4ae8e0538085ebf1b97"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 visualization_msgs/MarkerArray.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/visualization_msgs/MarkerArray.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,59 @@
+#ifndef _ROS_visualization_msgs_MarkerArray_h
+#define _ROS_visualization_msgs_MarkerArray_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+#include "visualization_msgs/Marker.h"
+
+namespace visualization_msgs
+{
+
+  class MarkerArray : public ros::Msg
+  {
+    public:
+      uint8_t markers_length;
+      visualization_msgs::Marker st_markers;
+      visualization_msgs::Marker * markers;
+
+    MarkerArray():
+      markers_length(0), markers(NULL)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset++) = markers_length;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      *(outbuffer + offset++) = 0;
+      for( uint8_t i = 0; i < markers_length; i++){
+      offset += this->markers[i].serialize(outbuffer + offset);
+      }
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      uint8_t markers_lengthT = *(inbuffer + offset++);
+      if(markers_lengthT > markers_length)
+        this->markers = (visualization_msgs::Marker*)realloc(this->markers, markers_lengthT * sizeof(visualization_msgs::Marker));
+      offset += 3;
+      markers_length = markers_lengthT;
+      for( uint8_t i = 0; i < markers_length; i++){
+      offset += this->st_markers.deserialize(inbuffer + offset);
+        memcpy( &(this->markers[i]), &(this->st_markers), sizeof(visualization_msgs::Marker));
+      }
+     return offset;
+    }
+
+    const char * getType(){ return "visualization_msgs/MarkerArray"; };
+    const char * getMD5(){ return "d155b9ce5188fbaf89745847fd5882d7"; };
+
+  };
+
+}
+#endif
\ No newline at end of file
diff -r 000000000000 -r a906bb7c7831 visualization_msgs/MenuEntry.h
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/visualization_msgs/MenuEntry.h	Thu Mar 31 23:23:15 2016 +0000
@@ -0,0 +1,103 @@
+#ifndef _ROS_visualization_msgs_MenuEntry_h
+#define _ROS_visualization_msgs_MenuEntry_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace visualization_msgs
+{
+
+  class MenuEntry : public ros::Msg
+  {
+    public:
+      uint32_t id;
+      uint32_t parent_id;
+      const char* title;
+      const char* command;
+      uint8_t command_type;
+      enum { FEEDBACK = 0 };
+      enum { ROSRUN = 1 };
+      enum { ROSLAUNCH = 2 };
+
+    MenuEntry():
+      id(0),
+      parent_id(0),
+      title(""),
+      command(""),
+      command_type(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      *(outbuffer + offset + 0) = (this->id >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->id >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->id >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->id >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->id);
+      *(outbuffer + offset + 0) = (this->parent_id >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (this->parent_id >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (this->parent_id >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (this->parent_id >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->parent_id);
+      uint32_t length_title = strlen(this->title);
+      memcpy(outbuffer + offset, &length_title, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->title, length_title);
+      offset += length_title;
+      uint32_t length_command = strlen(this->command);
+      memcpy(outbuffer + offset, &length_command, sizeof(uint32_t));
+      offset += 4;
+      memcpy(outbuffer + offset, this->command, length_command);
+      offset += length_command;
+      *(outbuffer + offset + 0) = (this->command_type >> (8 * 0)) & 0xFF;
+      offset += sizeof(this->command_type);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      this->id =  ((uint32_t) (*(inbuffer + offset)));
+      this->id |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->id |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->id |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->id);
+      this->parent_id =  ((uint32_t) (*(inbuffer + offset)));
+      this->parent_id |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      this->parent_id |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      this->parent_id |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      offset += sizeof(this->parent_id);
+      uint32_t length_title;
+      memcpy(&length_title, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_title; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_title-1]=0;
+      this->title = (char *)(inbuffer + offset-1);
+      offset += length_title;
+      uint32_t length_command;
+      memcpy(&length_command, (inbuffer + offset), sizeof(uint32_t));
+      offset += 4;
+      for(unsigned int k= offset; k< offset+length_command; ++k){
+          inbuffer[k-1]=inbuffer[k];
+      }
+      inbuffer[offset+length_command-1]=0;
+      this->command = (char *)(inbuffer + offset-1);
+      offset += length_command;
+      this->command_type =  ((uint8_t) (*(inbuffer + offset)));
+      offset += sizeof(this->command_type);
+     return offset;
+    }
+
+    const char * getType(){ return "visualization_msgs/MenuEntry"; };
+    const char * getMD5(){ return "b90ec63024573de83b57aa93eb39be2d"; };
+
+  };
+
+}
+#endif
\ No newline at end of file