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: gazebo_msgs/ApplyJointEffort.h
- Revision:
- 0:9e9b7db60fd5
--- /dev/null Thu Jan 01 00:00:00 1970 +0000
+++ b/gazebo_msgs/ApplyJointEffort.h Sat Dec 31 00:48:34 2016 +0000
@@ -0,0 +1,202 @@
+#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:
+ typedef const char* _joint_name_type;
+ _joint_name_type joint_name;
+ typedef double _effort_type;
+ _effort_type effort;
+ typedef ros::Time _start_time_type;
+ _start_time_type start_time;
+ typedef ros::Duration _duration_type;
+ _duration_type 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);
+ varToArr(outbuffer + offset, length_joint_name);
+ 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;
+ arrToVar(length_joint_name, (inbuffer + offset));
+ 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:
+ typedef bool _success_type;
+ _success_type success;
+ typedef const char* _status_message_type;
+ _status_message_type 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);
+ varToArr(outbuffer + offset, length_status_message);
+ 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;
+ arrToVar(length_status_message, (inbuffer + offset));
+ 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