Revision 2:af816ffd33df, committed 2017-05-19

Comitter:

randalthor

Date:

Fri May 19 08:59:12 2017 +0000

Parent:

1:a849bf78d77f

Commit message:

custom message mobile robot added for ITU cyber physical lab

Changed in this revision

--- a/MbedHardware.h	Sat Dec 31 00:59:58 2016 +0000
+++ b/MbedHardware.h	Fri May 19 08:59:12 2017 +0000
@@ -14,7 +14,7 @@
 
 class MbedHardware {
   public:
-    MbedHardware(PinName tx, PinName rx, long baud = 57600)
+    MbedHardware(PinName tx, PinName rx, long baud = 1843200)
       :iostream(tx, rx){
       baud_ = baud;
       t.start();
@@ -22,7 +22,7 @@
 
     MbedHardware()
       :iostream(USBTX, USBRX) {
-        baud_ = 57600;
+        baud_ = 1843200;
         t.start();
     }
 

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/openlab/RF.h	Fri May 19 08:59:12 2017 +0000
@@ -0,0 +1,134 @@
+#ifndef _ROS_openlab_RF_h
+#define _ROS_openlab_RF_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace openlab
+{
+
+  class RF : public ros::Msg
+  {
+    public:
+      typedef int32_t _encoder_1_type;
+      _encoder_1_type encoder_1;
+      typedef int32_t _encoder_2_type;
+      _encoder_2_type encoder_2;
+      typedef int32_t _encoder_3_type;
+      _encoder_3_type encoder_3;
+      typedef int32_t _encoder_4_type;
+      _encoder_4_type encoder_4;
+
+    RF():
+      encoder_1(0),
+      encoder_2(0),
+      encoder_3(0),
+      encoder_4(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_encoder_1;
+      u_encoder_1.real = this->encoder_1;
+      *(outbuffer + offset + 0) = (u_encoder_1.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_encoder_1.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_encoder_1.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_encoder_1.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->encoder_1);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_encoder_2;
+      u_encoder_2.real = this->encoder_2;
+      *(outbuffer + offset + 0) = (u_encoder_2.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_encoder_2.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_encoder_2.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_encoder_2.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->encoder_2);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_encoder_3;
+      u_encoder_3.real = this->encoder_3;
+      *(outbuffer + offset + 0) = (u_encoder_3.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_encoder_3.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_encoder_3.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_encoder_3.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->encoder_3);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_encoder_4;
+      u_encoder_4.real = this->encoder_4;
+      *(outbuffer + offset + 0) = (u_encoder_4.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_encoder_4.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_encoder_4.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_encoder_4.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->encoder_4);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_encoder_1;
+      u_encoder_1.base = 0;
+      u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->encoder_1 = u_encoder_1.real;
+      offset += sizeof(this->encoder_1);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_encoder_2;
+      u_encoder_2.base = 0;
+      u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->encoder_2 = u_encoder_2.real;
+      offset += sizeof(this->encoder_2);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_encoder_3;
+      u_encoder_3.base = 0;
+      u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->encoder_3 = u_encoder_3.real;
+      offset += sizeof(this->encoder_3);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_encoder_4;
+      u_encoder_4.base = 0;
+      u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->encoder_4 = u_encoder_4.real;
+      offset += sizeof(this->encoder_4);
+     return offset;
+    }
+
+    const char * getType(){ return "openlab/RF"; };
+    const char * getMD5(){ return "72ef78eb5e9bafb28f2bd3ab6be8a6a5"; };
+
+  };
+
+}
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/openlab/RobotFeedback.h	Fri May 19 08:59:12 2017 +0000
@@ -0,0 +1,422 @@
+#ifndef _ROS_openlab_RobotFeedback_h
+#define _ROS_openlab_RobotFeedback_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace openlab
+{
+
+  class RobotFeedback : public ros::Msg
+  {
+    public:
+      typedef int32_t _encoder_1_type;
+      _encoder_1_type encoder_1;
+      typedef int32_t _encoder_2_type;
+      _encoder_2_type encoder_2;
+      typedef int32_t _encoder_3_type;
+      _encoder_3_type encoder_3;
+      typedef int32_t _encoder_4_type;
+      _encoder_4_type encoder_4;
+      typedef float _pwm_1_type;
+      _pwm_1_type pwm_1;
+      typedef float _pwm_2_type;
+      _pwm_2_type pwm_2;
+      typedef float _pwm_3_type;
+      _pwm_3_type pwm_3;
+      typedef float _pwm_4_type;
+      _pwm_4_type pwm_4;
+      typedef float _dc_current_1_type;
+      _dc_current_1_type dc_current_1;
+      typedef float _dc_current_2_type;
+      _dc_current_2_type dc_current_2;
+      typedef float _dc_current_3_type;
+      _dc_current_3_type dc_current_3;
+      typedef float _dc_current_4_type;
+      _dc_current_4_type dc_current_4;
+      typedef float _sensor_1_type;
+      _sensor_1_type sensor_1;
+      typedef float _sensor_2_type;
+      _sensor_2_type sensor_2;
+      typedef float _sensor_3_type;
+      _sensor_3_type sensor_3;
+      typedef float _sensor_4_type;
+      _sensor_4_type sensor_4;
+
+    RobotFeedback():
+      encoder_1(0),
+      encoder_2(0),
+      encoder_3(0),
+      encoder_4(0),
+      pwm_1(0),
+      pwm_2(0),
+      pwm_3(0),
+      pwm_4(0),
+      dc_current_1(0),
+      dc_current_2(0),
+      dc_current_3(0),
+      dc_current_4(0),
+      sensor_1(0),
+      sensor_2(0),
+      sensor_3(0),
+      sensor_4(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_encoder_1;
+      u_encoder_1.real = this->encoder_1;
+      *(outbuffer + offset + 0) = (u_encoder_1.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_encoder_1.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_encoder_1.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_encoder_1.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->encoder_1);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_encoder_2;
+      u_encoder_2.real = this->encoder_2;
+      *(outbuffer + offset + 0) = (u_encoder_2.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_encoder_2.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_encoder_2.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_encoder_2.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->encoder_2);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_encoder_3;
+      u_encoder_3.real = this->encoder_3;
+      *(outbuffer + offset + 0) = (u_encoder_3.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_encoder_3.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_encoder_3.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_encoder_3.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->encoder_3);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_encoder_4;
+      u_encoder_4.real = this->encoder_4;
+      *(outbuffer + offset + 0) = (u_encoder_4.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_encoder_4.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_encoder_4.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_encoder_4.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->encoder_4);
+      union {
+        float real;
+        uint32_t base;
+      } u_pwm_1;
+      u_pwm_1.real = this->pwm_1;
+      *(outbuffer + offset + 0) = (u_pwm_1.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_pwm_1.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_pwm_1.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_pwm_1.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->pwm_1);
+      union {
+        float real;
+        uint32_t base;
+      } u_pwm_2;
+      u_pwm_2.real = this->pwm_2;
+      *(outbuffer + offset + 0) = (u_pwm_2.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_pwm_2.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_pwm_2.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_pwm_2.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->pwm_2);
+      union {
+        float real;
+        uint32_t base;
+      } u_pwm_3;
+      u_pwm_3.real = this->pwm_3;
+      *(outbuffer + offset + 0) = (u_pwm_3.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_pwm_3.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_pwm_3.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_pwm_3.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->pwm_3);
+      union {
+        float real;
+        uint32_t base;
+      } u_pwm_4;
+      u_pwm_4.real = this->pwm_4;
+      *(outbuffer + offset + 0) = (u_pwm_4.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_pwm_4.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_pwm_4.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_pwm_4.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->pwm_4);
+      union {
+        float real;
+        uint32_t base;
+      } u_dc_current_1;
+      u_dc_current_1.real = this->dc_current_1;
+      *(outbuffer + offset + 0) = (u_dc_current_1.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_dc_current_1.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_dc_current_1.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_dc_current_1.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->dc_current_1);
+      union {
+        float real;
+        uint32_t base;
+      } u_dc_current_2;
+      u_dc_current_2.real = this->dc_current_2;
+      *(outbuffer + offset + 0) = (u_dc_current_2.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_dc_current_2.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_dc_current_2.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_dc_current_2.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->dc_current_2);
+      union {
+        float real;
+        uint32_t base;
+      } u_dc_current_3;
+      u_dc_current_3.real = this->dc_current_3;
+      *(outbuffer + offset + 0) = (u_dc_current_3.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_dc_current_3.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_dc_current_3.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_dc_current_3.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->dc_current_3);
+      union {
+        float real;
+        uint32_t base;
+      } u_dc_current_4;
+      u_dc_current_4.real = this->dc_current_4;
+      *(outbuffer + offset + 0) = (u_dc_current_4.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_dc_current_4.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_dc_current_4.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_dc_current_4.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->dc_current_4);
+      union {
+        float real;
+        uint32_t base;
+      } u_sensor_1;
+      u_sensor_1.real = this->sensor_1;
+      *(outbuffer + offset + 0) = (u_sensor_1.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_sensor_1.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_sensor_1.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_sensor_1.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->sensor_1);
+      union {
+        float real;
+        uint32_t base;
+      } u_sensor_2;
+      u_sensor_2.real = this->sensor_2;
+      *(outbuffer + offset + 0) = (u_sensor_2.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_sensor_2.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_sensor_2.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_sensor_2.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->sensor_2);
+      union {
+        float real;
+        uint32_t base;
+      } u_sensor_3;
+      u_sensor_3.real = this->sensor_3;
+      *(outbuffer + offset + 0) = (u_sensor_3.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_sensor_3.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_sensor_3.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_sensor_3.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->sensor_3);
+      union {
+        float real;
+        uint32_t base;
+      } u_sensor_4;
+      u_sensor_4.real = this->sensor_4;
+      *(outbuffer + offset + 0) = (u_sensor_4.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_sensor_4.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_sensor_4.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_sensor_4.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->sensor_4);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_encoder_1;
+      u_encoder_1.base = 0;
+      u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->encoder_1 = u_encoder_1.real;
+      offset += sizeof(this->encoder_1);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_encoder_2;
+      u_encoder_2.base = 0;
+      u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->encoder_2 = u_encoder_2.real;
+      offset += sizeof(this->encoder_2);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_encoder_3;
+      u_encoder_3.base = 0;
+      u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_encoder_3.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->encoder_3 = u_encoder_3.real;
+      offset += sizeof(this->encoder_3);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_encoder_4;
+      u_encoder_4.base = 0;
+      u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_encoder_4.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->encoder_4 = u_encoder_4.real;
+      offset += sizeof(this->encoder_4);
+      union {
+        float real;
+        uint32_t base;
+      } u_pwm_1;
+      u_pwm_1.base = 0;
+      u_pwm_1.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_pwm_1.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_pwm_1.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_pwm_1.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->pwm_1 = u_pwm_1.real;
+      offset += sizeof(this->pwm_1);
+      union {
+        float real;
+        uint32_t base;
+      } u_pwm_2;
+      u_pwm_2.base = 0;
+      u_pwm_2.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_pwm_2.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_pwm_2.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_pwm_2.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->pwm_2 = u_pwm_2.real;
+      offset += sizeof(this->pwm_2);
+      union {
+        float real;
+        uint32_t base;
+      } u_pwm_3;
+      u_pwm_3.base = 0;
+      u_pwm_3.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_pwm_3.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_pwm_3.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_pwm_3.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->pwm_3 = u_pwm_3.real;
+      offset += sizeof(this->pwm_3);
+      union {
+        float real;
+        uint32_t base;
+      } u_pwm_4;
+      u_pwm_4.base = 0;
+      u_pwm_4.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_pwm_4.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_pwm_4.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_pwm_4.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->pwm_4 = u_pwm_4.real;
+      offset += sizeof(this->pwm_4);
+      union {
+        float real;
+        uint32_t base;
+      } u_dc_current_1;
+      u_dc_current_1.base = 0;
+      u_dc_current_1.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_dc_current_1.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_dc_current_1.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_dc_current_1.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->dc_current_1 = u_dc_current_1.real;
+      offset += sizeof(this->dc_current_1);
+      union {
+        float real;
+        uint32_t base;
+      } u_dc_current_2;
+      u_dc_current_2.base = 0;
+      u_dc_current_2.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_dc_current_2.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_dc_current_2.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_dc_current_2.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->dc_current_2 = u_dc_current_2.real;
+      offset += sizeof(this->dc_current_2);
+      union {
+        float real;
+        uint32_t base;
+      } u_dc_current_3;
+      u_dc_current_3.base = 0;
+      u_dc_current_3.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_dc_current_3.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_dc_current_3.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_dc_current_3.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->dc_current_3 = u_dc_current_3.real;
+      offset += sizeof(this->dc_current_3);
+      union {
+        float real;
+        uint32_t base;
+      } u_dc_current_4;
+      u_dc_current_4.base = 0;
+      u_dc_current_4.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_dc_current_4.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_dc_current_4.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_dc_current_4.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->dc_current_4 = u_dc_current_4.real;
+      offset += sizeof(this->dc_current_4);
+      union {
+        float real;
+        uint32_t base;
+      } u_sensor_1;
+      u_sensor_1.base = 0;
+      u_sensor_1.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_sensor_1.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_sensor_1.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_sensor_1.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->sensor_1 = u_sensor_1.real;
+      offset += sizeof(this->sensor_1);
+      union {
+        float real;
+        uint32_t base;
+      } u_sensor_2;
+      u_sensor_2.base = 0;
+      u_sensor_2.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_sensor_2.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_sensor_2.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_sensor_2.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->sensor_2 = u_sensor_2.real;
+      offset += sizeof(this->sensor_2);
+      union {
+        float real;
+        uint32_t base;
+      } u_sensor_3;
+      u_sensor_3.base = 0;
+      u_sensor_3.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_sensor_3.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_sensor_3.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_sensor_3.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->sensor_3 = u_sensor_3.real;
+      offset += sizeof(this->sensor_3);
+      union {
+        float real;
+        uint32_t base;
+      } u_sensor_4;
+      u_sensor_4.base = 0;
+      u_sensor_4.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_sensor_4.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_sensor_4.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_sensor_4.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->sensor_4 = u_sensor_4.real;
+      offset += sizeof(this->sensor_4);
+     return offset;
+    }
+
+    const char * getType(){ return "openlab/RobotFeedback"; };
+    const char * getMD5(){ return "f31bdce92ed3d88b204eacb08d719892"; };
+
+  };
+
+}
+#endif

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/openlab/mobileRobot.h	Fri May 19 08:59:12 2017 +0000
@@ -0,0 +1,278 @@
+#ifndef _ROS_openlab_mobileRobot_h
+#define _ROS_openlab_mobileRobot_h
+
+#include <stdint.h>
+#include <string.h>
+#include <stdlib.h>
+#include "ros/msg.h"
+
+namespace openlab
+{
+
+  class mobileRobot : public ros::Msg
+  {
+    public:
+      typedef float _cmd_velocity_linx_type;
+      _cmd_velocity_linx_type cmd_velocity_linx;
+      typedef float _cmd_velocity_angz_type;
+      _cmd_velocity_angz_type cmd_velocity_angz;
+      typedef float _real_velocity_linx_type;
+      _real_velocity_linx_type real_velocity_linx;
+      typedef float _real_velocity_angz_type;
+      _real_velocity_angz_type real_velocity_angz;
+      typedef float _pwm_1_type;
+      _pwm_1_type pwm_1;
+      typedef float _pwm_2_type;
+      _pwm_2_type pwm_2;
+      typedef float _dc_current_1_type;
+      _dc_current_1_type dc_current_1;
+      typedef float _dc_current_2_type;
+      _dc_current_2_type dc_current_2;
+      typedef int32_t _encoder_1_type;
+      _encoder_1_type encoder_1;
+      typedef int32_t _encoder_2_type;
+      _encoder_2_type encoder_2;
+
+    mobileRobot():
+      cmd_velocity_linx(0),
+      cmd_velocity_angz(0),
+      real_velocity_linx(0),
+      real_velocity_angz(0),
+      pwm_1(0),
+      pwm_2(0),
+      dc_current_1(0),
+      dc_current_2(0),
+      encoder_1(0),
+      encoder_2(0)
+    {
+    }
+
+    virtual int serialize(unsigned char *outbuffer) const
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_cmd_velocity_linx;
+      u_cmd_velocity_linx.real = this->cmd_velocity_linx;
+      *(outbuffer + offset + 0) = (u_cmd_velocity_linx.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_cmd_velocity_linx.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_cmd_velocity_linx.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_cmd_velocity_linx.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->cmd_velocity_linx);
+      union {
+        float real;
+        uint32_t base;
+      } u_cmd_velocity_angz;
+      u_cmd_velocity_angz.real = this->cmd_velocity_angz;
+      *(outbuffer + offset + 0) = (u_cmd_velocity_angz.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_cmd_velocity_angz.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_cmd_velocity_angz.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_cmd_velocity_angz.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->cmd_velocity_angz);
+      union {
+        float real;
+        uint32_t base;
+      } u_real_velocity_linx;
+      u_real_velocity_linx.real = this->real_velocity_linx;
+      *(outbuffer + offset + 0) = (u_real_velocity_linx.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_real_velocity_linx.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_real_velocity_linx.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_real_velocity_linx.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->real_velocity_linx);
+      union {
+        float real;
+        uint32_t base;
+      } u_real_velocity_angz;
+      u_real_velocity_angz.real = this->real_velocity_angz;
+      *(outbuffer + offset + 0) = (u_real_velocity_angz.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_real_velocity_angz.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_real_velocity_angz.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_real_velocity_angz.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->real_velocity_angz);
+      union {
+        float real;
+        uint32_t base;
+      } u_pwm_1;
+      u_pwm_1.real = this->pwm_1;
+      *(outbuffer + offset + 0) = (u_pwm_1.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_pwm_1.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_pwm_1.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_pwm_1.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->pwm_1);
+      union {
+        float real;
+        uint32_t base;
+      } u_pwm_2;
+      u_pwm_2.real = this->pwm_2;
+      *(outbuffer + offset + 0) = (u_pwm_2.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_pwm_2.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_pwm_2.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_pwm_2.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->pwm_2);
+      union {
+        float real;
+        uint32_t base;
+      } u_dc_current_1;
+      u_dc_current_1.real = this->dc_current_1;
+      *(outbuffer + offset + 0) = (u_dc_current_1.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_dc_current_1.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_dc_current_1.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_dc_current_1.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->dc_current_1);
+      union {
+        float real;
+        uint32_t base;
+      } u_dc_current_2;
+      u_dc_current_2.real = this->dc_current_2;
+      *(outbuffer + offset + 0) = (u_dc_current_2.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_dc_current_2.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_dc_current_2.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_dc_current_2.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->dc_current_2);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_encoder_1;
+      u_encoder_1.real = this->encoder_1;
+      *(outbuffer + offset + 0) = (u_encoder_1.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_encoder_1.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_encoder_1.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_encoder_1.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->encoder_1);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_encoder_2;
+      u_encoder_2.real = this->encoder_2;
+      *(outbuffer + offset + 0) = (u_encoder_2.base >> (8 * 0)) & 0xFF;
+      *(outbuffer + offset + 1) = (u_encoder_2.base >> (8 * 1)) & 0xFF;
+      *(outbuffer + offset + 2) = (u_encoder_2.base >> (8 * 2)) & 0xFF;
+      *(outbuffer + offset + 3) = (u_encoder_2.base >> (8 * 3)) & 0xFF;
+      offset += sizeof(this->encoder_2);
+      return offset;
+    }
+
+    virtual int deserialize(unsigned char *inbuffer)
+    {
+      int offset = 0;
+      union {
+        float real;
+        uint32_t base;
+      } u_cmd_velocity_linx;
+      u_cmd_velocity_linx.base = 0;
+      u_cmd_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_cmd_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_cmd_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_cmd_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->cmd_velocity_linx = u_cmd_velocity_linx.real;
+      offset += sizeof(this->cmd_velocity_linx);
+      union {
+        float real;
+        uint32_t base;
+      } u_cmd_velocity_angz;
+      u_cmd_velocity_angz.base = 0;
+      u_cmd_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_cmd_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_cmd_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_cmd_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->cmd_velocity_angz = u_cmd_velocity_angz.real;
+      offset += sizeof(this->cmd_velocity_angz);
+      union {
+        float real;
+        uint32_t base;
+      } u_real_velocity_linx;
+      u_real_velocity_linx.base = 0;
+      u_real_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_real_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_real_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_real_velocity_linx.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->real_velocity_linx = u_real_velocity_linx.real;
+      offset += sizeof(this->real_velocity_linx);
+      union {
+        float real;
+        uint32_t base;
+      } u_real_velocity_angz;
+      u_real_velocity_angz.base = 0;
+      u_real_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_real_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_real_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_real_velocity_angz.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->real_velocity_angz = u_real_velocity_angz.real;
+      offset += sizeof(this->real_velocity_angz);
+      union {
+        float real;
+        uint32_t base;
+      } u_pwm_1;
+      u_pwm_1.base = 0;
+      u_pwm_1.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_pwm_1.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_pwm_1.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_pwm_1.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->pwm_1 = u_pwm_1.real;
+      offset += sizeof(this->pwm_1);
+      union {
+        float real;
+        uint32_t base;
+      } u_pwm_2;
+      u_pwm_2.base = 0;
+      u_pwm_2.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_pwm_2.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_pwm_2.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_pwm_2.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->pwm_2 = u_pwm_2.real;
+      offset += sizeof(this->pwm_2);
+      union {
+        float real;
+        uint32_t base;
+      } u_dc_current_1;
+      u_dc_current_1.base = 0;
+      u_dc_current_1.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_dc_current_1.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_dc_current_1.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_dc_current_1.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->dc_current_1 = u_dc_current_1.real;
+      offset += sizeof(this->dc_current_1);
+      union {
+        float real;
+        uint32_t base;
+      } u_dc_current_2;
+      u_dc_current_2.base = 0;
+      u_dc_current_2.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_dc_current_2.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_dc_current_2.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_dc_current_2.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->dc_current_2 = u_dc_current_2.real;
+      offset += sizeof(this->dc_current_2);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_encoder_1;
+      u_encoder_1.base = 0;
+      u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_encoder_1.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->encoder_1 = u_encoder_1.real;
+      offset += sizeof(this->encoder_1);
+      union {
+        int32_t real;
+        uint32_t base;
+      } u_encoder_2;
+      u_encoder_2.base = 0;
+      u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 0))) << (8 * 0);
+      u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1);
+      u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2);
+      u_encoder_2.base |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3);
+      this->encoder_2 = u_encoder_2.real;
+      offset += sizeof(this->encoder_2);
+     return offset;
+    }
+
+    const char * getType(){ return "openlab/mobileRobot"; };
+    const char * getMD5(){ return "5e54beb06e233db01abe11e2006b8b2e"; };
+
+  };
+
+}
+#endif