Jacob Hernandez
This is a fork from the original, including a small change in the buffer size of the hardware interface (increased to 2048) and decreasing the number of publishers and subscribers to 5. Besides, the library about the message Adc.h was modified so as to increase the number of available Adc channels to be read ( from 6 to 7 ) For this modification, a change in checksum was required
Fork of
ros_lib_kinetic
by 
Gary Servin
Diff: control_msgs/SingleJointPositionFeedback.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/control_msgs/SingleJointPositionFeedback.h Sat Dec 31 00:48:34 2016 +0000
@@ -0,0 +1,140 @@
+#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:
+ typedef std_msgs::Header _header_type;
+ _header_type header;
+ typedef double _position_type;
+ _position_type position;
+ typedef double _velocity_type;
+ _velocity_type velocity;
+ typedef double _error_type;
+ _error_type 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