Revision 7:c80f65422d99, committed 2022-03-19

Comitter:

smoritaemb

Date:

Sat Mar 19 09:23:37 2022 +0900

Parent:

2:159877d749c2

Parent:

6:de187e431bef

Commit message:

Merge test_assortment_of_msgs branch.

Changed in this revision

diff -r 159877d749c2 -r c80f65422d99 custom_msgs/geometry_msgs/msg/Point.msg
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/custom_msgs/geometry_msgs/msg/Point.msg	Sat Mar 19 09:23:37 2022 +0900
@@ -0,0 +1,3 @@
+float64 x
+float64 y
+float64 z
\ No newline at end of file

diff -r 159877d749c2 -r c80f65422d99 custom_msgs/geometry_msgs/msg/Pose.msg
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/custom_msgs/geometry_msgs/msg/Pose.msg	Sat Mar 19 09:23:37 2022 +0900
@@ -0,0 +1,2 @@
+geometry_msgs/msg/Point position
+geometry_msgs/msg/Quaternion orientation
\ No newline at end of file

diff -r 159877d749c2 -r c80f65422d99 custom_msgs/geometry_msgs/msg/Quaternion.msg
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/custom_msgs/geometry_msgs/msg/Quaternion.msg	Sat Mar 19 09:23:37 2022 +0900
@@ -0,0 +1,4 @@
+float64 x
+float64 y
+float64 z
+float64 w
\ No newline at end of file

diff -r 159877d749c2 -r c80f65422d99 custom_msgs/geometry_msgs/msg/Twist.msg
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/custom_msgs/geometry_msgs/msg/Twist.msg	Sat Mar 19 09:23:37 2022 +0900
@@ -0,0 +1,2 @@
+geometry_msgs/msg/Vector3 linear
+geometry_msgs/msg/Vector3 angular
\ No newline at end of file

diff -r 159877d749c2 -r c80f65422d99 custom_msgs/geometry_msgs/msg/Vector3.msg
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/custom_msgs/geometry_msgs/msg/Vector3.msg	Sat Mar 19 09:23:37 2022 +0900
@@ -0,0 +1,3 @@
+float64 x
+float64 y
+float64 z
\ No newline at end of file

diff -r 159877d749c2 -r c80f65422d99 custom_msgs/geometry_msgs/msg/point.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/custom_msgs/geometry_msgs/msg/point.hpp	Sat Mar 19 09:23:37 2022 +0900
@@ -0,0 +1,178 @@
+#ifndef _GEOMETRY_MSGS_MSG_POINT_H
+#define _GEOMETRY_MSGS_MSG_POINT_H
+
+#include <iostream>
+#include <string>
+
+using namespace std;
+
+namespace geometry_msgs
+{
+namespace msg
+{
+class Point
+{
+public:
+  uint32_t cntPub = 0;
+  uint32_t cntSub = 0;
+
+    
+  double x
+;
+    
+  double y
+;
+    
+  double z;
+  
+
+  uint32_t copyToBuf(uint8_t *addrPtr)
+  {
+    uint32_t tmpPub = 0;
+    uint32_t arraySize;
+    uint32_t stringSize;
+    
+    
+    
+    if (cntPub%8 > 0){
+      for(int i=0; i<(8-(cntPub%8)) ; i++){
+        *addrPtr = 0;
+        addrPtr += 1;
+      }   
+      cntPub += 8-(cntPub%8);
+    }
+    
+    memcpy(addrPtr,&x
+,8);
+    addrPtr += 8;
+    cntPub += 8;
+
+    
+    
+    
+    
+    if (cntPub%8 > 0){
+      for(int i=0; i<(8-(cntPub%8)) ; i++){
+        *addrPtr = 0;
+        addrPtr += 1;
+      }   
+      cntPub += 8-(cntPub%8);
+    }
+    
+    memcpy(addrPtr,&y
+,8);
+    addrPtr += 8;
+    cntPub += 8;
+
+    
+    
+    
+    
+    if (cntPub%8 > 0){
+      for(int i=0; i<(8-(cntPub%8)) ; i++){
+        *addrPtr = 0;
+        addrPtr += 1;
+      }   
+      cntPub += 8-(cntPub%8);
+    }
+    
+    memcpy(addrPtr,&z,8);
+    addrPtr += 8;
+    cntPub += 8;
+
+    
+    
+
+    return cntPub;
+  }
+
+  uint32_t copyFromBuf(const uint8_t *addrPtr) {
+    uint32_t tmpSub = 0;
+    uint32_t arraySize;
+    uint32_t stringSize;
+
+    
+    
+    
+    if (cntSub%8 > 0){
+      for(int i=0; i<(8-(cntSub%8)) ; i++){
+        addrPtr += 1;
+      }   
+      cntSub += 8-(cntSub%8);
+    }
+    
+    memcpy(&x
+,addrPtr,8);
+    addrPtr += 8;
+    cntSub += 8;
+    
+    
+    
+    
+    if (cntSub%8 > 0){
+      for(int i=0; i<(8-(cntSub%8)) ; i++){
+        addrPtr += 1;
+      }   
+      cntSub += 8-(cntSub%8);
+    }
+    
+    memcpy(&y
+,addrPtr,8);
+    addrPtr += 8;
+    cntSub += 8;
+    
+    
+    
+    
+    if (cntSub%8 > 0){
+      for(int i=0; i<(8-(cntSub%8)) ; i++){
+        addrPtr += 1;
+      }   
+      cntSub += 8-(cntSub%8);
+    }
+    
+    memcpy(&z,addrPtr,8);
+    addrPtr += 8;
+    cntSub += 8;
+    
+    
+
+    return cntSub;
+  }
+
+   void memAlign(uint8_t *addrPtr){
+    if (cntPub%4 > 0){
+      addrPtr += cntPub;
+      for(int i=0; i<(4-(cntPub%4)) ; i++){
+        *addrPtr = 0;
+        addrPtr += 1;
+      }
+      cntPub += 4-(cntPub%4);
+    }
+    return;
+  }
+
+  uint32_t getTotalSize(){
+    uint32_t tmpCntPub = cntPub;
+    cntPub = 0;
+    return tmpCntPub ;
+  }
+
+private:
+  std::string type_name = "geometry_msgs::msg::dds_::Point";
+};
+};
+}
+
+namespace message_traits
+{
+template<>
+struct TypeName<geometry_msgs::msg::Point*> {
+  static const char* value()
+  {
+    return "geometry_msgs::msg::dds_::Point_";
+  }
+};
+}
+
+#endif
\ No newline at end of file

diff -r 159877d749c2 -r c80f65422d99 custom_msgs/geometry_msgs/msg/pose.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/custom_msgs/geometry_msgs/msg/pose.hpp	Sat Mar 19 09:23:37 2022 +0900
@@ -0,0 +1,119 @@
+#ifndef _GEOMETRY_MSGS_MSG_POSE_H
+#define _GEOMETRY_MSGS_MSG_POSE_H
+
+#include <iostream>
+#include <string>
+#include "geometry_msgs/msg/point.hpp"
+#include "geometry_msgs/msg/quaternion.hpp"
+
+using namespace std;
+
+namespace geometry_msgs
+{
+namespace msg
+{
+class Pose
+{
+public:
+  uint32_t cntPub = 0;
+  uint32_t cntSub = 0;
+
+    
+  geometry_msgs::msg::Point position
+;
+    
+  geometry_msgs::msg::Quaternion orientation;
+  
+
+  uint32_t copyToBuf(uint8_t *addrPtr)
+  {
+    uint32_t tmpPub = 0;
+    uint32_t arraySize;
+    uint32_t stringSize;
+    
+    
+    
+    tmpPub = position
+.copyToBuf(addrPtr);
+    cntPub += tmpPub;
+    addrPtr += tmpPub;
+    
+    
+    
+    
+    
+    tmpPub = orientation.copyToBuf(addrPtr);
+    cntPub += tmpPub;
+    addrPtr += tmpPub;
+    
+    
+    
+
+    return cntPub;
+  }
+
+  uint32_t copyFromBuf(const uint8_t *addrPtr) {
+    uint32_t tmpSub = 0;
+    uint32_t arraySize;
+    uint32_t stringSize;
+
+    
+    
+    
+    tmpSub = position
+.copyFromBuf(addrPtr);
+    cntSub += tmpSub;
+    addrPtr += tmpSub;
+    
+
+    
+    
+    
+    
+    tmpSub = orientation.copyFromBuf(addrPtr);
+    cntSub += tmpSub;
+    addrPtr += tmpSub;
+    
+
+    
+    
+
+    return cntSub;
+  }
+
+   void memAlign(uint8_t *addrPtr){
+    if (cntPub%4 > 0){
+      addrPtr += cntPub;
+      for(int i=0; i<(4-(cntPub%4)) ; i++){
+        *addrPtr = 0;
+        addrPtr += 1;
+      }
+      cntPub += 4-(cntPub%4);
+    }
+    return;
+  }
+
+  uint32_t getTotalSize(){
+    uint32_t tmpCntPub = cntPub;
+    cntPub = 0;
+    return tmpCntPub ;
+  }
+
+private:
+  std::string type_name = "geometry_msgs::msg::dds_::Pose";
+};
+};
+}
+
+namespace message_traits
+{
+template<>
+struct TypeName<geometry_msgs::msg::Pose*> {
+  static const char* value()
+  {
+    return "geometry_msgs::msg::dds_::Pose_";
+  }
+};
+}
+
+#endif
\ No newline at end of file

diff -r 159877d749c2 -r c80f65422d99 custom_msgs/geometry_msgs/msg/quaternion.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/custom_msgs/geometry_msgs/msg/quaternion.hpp	Sat Mar 19 09:23:37 2022 +0900
@@ -0,0 +1,213 @@
+#ifndef _GEOMETRY_MSGS_MSG_QUATERNION_H
+#define _GEOMETRY_MSGS_MSG_QUATERNION_H
+
+#include <iostream>
+#include <string>
+
+using namespace std;
+
+namespace geometry_msgs
+{
+namespace msg
+{
+class Quaternion
+{
+public:
+  uint32_t cntPub = 0;
+  uint32_t cntSub = 0;
+
+    
+  double x
+;
+    
+  double y
+;
+    
+  double z
+;
+    
+  double w;
+  
+
+  uint32_t copyToBuf(uint8_t *addrPtr)
+  {
+    uint32_t tmpPub = 0;
+    uint32_t arraySize;
+    uint32_t stringSize;
+    
+    
+    
+    if (cntPub%8 > 0){
+      for(int i=0; i<(8-(cntPub%8)) ; i++){
+        *addrPtr = 0;
+        addrPtr += 1;
+      }   
+      cntPub += 8-(cntPub%8);
+    }
+    
+    memcpy(addrPtr,&x
+,8);
+    addrPtr += 8;
+    cntPub += 8;
+
+    
+    
+    
+    
+    if (cntPub%8 > 0){
+      for(int i=0; i<(8-(cntPub%8)) ; i++){
+        *addrPtr = 0;
+        addrPtr += 1;
+      }   
+      cntPub += 8-(cntPub%8);
+    }
+    
+    memcpy(addrPtr,&y
+,8);
+    addrPtr += 8;
+    cntPub += 8;
+
+    
+    
+    
+    
+    if (cntPub%8 > 0){
+      for(int i=0; i<(8-(cntPub%8)) ; i++){
+        *addrPtr = 0;
+        addrPtr += 1;
+      }   
+      cntPub += 8-(cntPub%8);
+    }
+    
+    memcpy(addrPtr,&z
+,8);
+    addrPtr += 8;
+    cntPub += 8;
+
+    
+    
+    
+    
+    if (cntPub%8 > 0){
+      for(int i=0; i<(8-(cntPub%8)) ; i++){
+        *addrPtr = 0;
+        addrPtr += 1;
+      }   
+      cntPub += 8-(cntPub%8);
+    }
+    
+    memcpy(addrPtr,&w,8);
+    addrPtr += 8;
+    cntPub += 8;
+
+    
+    
+
+    return cntPub;
+  }
+
+  uint32_t copyFromBuf(const uint8_t *addrPtr) {
+    uint32_t tmpSub = 0;
+    uint32_t arraySize;
+    uint32_t stringSize;
+
+    
+    
+    
+    if (cntSub%8 > 0){
+      for(int i=0; i<(8-(cntSub%8)) ; i++){
+        addrPtr += 1;
+      }   
+      cntSub += 8-(cntSub%8);
+    }
+    
+    memcpy(&x
+,addrPtr,8);
+    addrPtr += 8;
+    cntSub += 8;
+    
+    
+    
+    
+    if (cntSub%8 > 0){
+      for(int i=0; i<(8-(cntSub%8)) ; i++){
+        addrPtr += 1;
+      }   
+      cntSub += 8-(cntSub%8);
+    }
+    
+    memcpy(&y
+,addrPtr,8);
+    addrPtr += 8;
+    cntSub += 8;
+    
+    
+    
+    
+    if (cntSub%8 > 0){
+      for(int i=0; i<(8-(cntSub%8)) ; i++){
+        addrPtr += 1;
+      }   
+      cntSub += 8-(cntSub%8);
+    }
+    
+    memcpy(&z
+,addrPtr,8);
+    addrPtr += 8;
+    cntSub += 8;
+    
+    
+    
+    
+    if (cntSub%8 > 0){
+      for(int i=0; i<(8-(cntSub%8)) ; i++){
+        addrPtr += 1;
+      }   
+      cntSub += 8-(cntSub%8);
+    }
+    
+    memcpy(&w,addrPtr,8);
+    addrPtr += 8;
+    cntSub += 8;
+    
+    
+
+    return cntSub;
+  }
+
+   void memAlign(uint8_t *addrPtr){
+    if (cntPub%4 > 0){
+      addrPtr += cntPub;
+      for(int i=0; i<(4-(cntPub%4)) ; i++){
+        *addrPtr = 0;
+        addrPtr += 1;
+      }
+      cntPub += 4-(cntPub%4);
+    }
+    return;
+  }
+
+  uint32_t getTotalSize(){
+    uint32_t tmpCntPub = cntPub;
+    cntPub = 0;
+    return tmpCntPub ;
+  }
+
+private:
+  std::string type_name = "geometry_msgs::msg::dds_::Quaternion";
+};
+};
+}
+
+namespace message_traits
+{
+template<>
+struct TypeName<geometry_msgs::msg::Quaternion*> {
+  static const char* value()
+  {
+    return "geometry_msgs::msg::dds_::Quaternion_";
+  }
+};
+}
+
+#endif
\ No newline at end of file

diff -r 159877d749c2 -r c80f65422d99 custom_msgs/geometry_msgs/msg/twist.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/custom_msgs/geometry_msgs/msg/twist.hpp	Sat Mar 19 09:23:37 2022 +0900
@@ -0,0 +1,119 @@
+#ifndef _GEOMETRY_MSGS_MSG_TWIST_H
+#define _GEOMETRY_MSGS_MSG_TWIST_H
+
+#include <iostream>
+#include <string>
+#include "geometry_msgs/msg/vector3.hpp"
+#include "geometry_msgs/msg/vector3.hpp"
+
+using namespace std;
+
+namespace geometry_msgs
+{
+namespace msg
+{
+class Twist
+{
+public:
+  uint32_t cntPub = 0;
+  uint32_t cntSub = 0;
+
+    
+  geometry_msgs::msg::Vector3 linear
+;
+    
+  geometry_msgs::msg::Vector3 angular;
+  
+
+  uint32_t copyToBuf(uint8_t *addrPtr)
+  {
+    uint32_t tmpPub = 0;
+    uint32_t arraySize;
+    uint32_t stringSize;
+    
+    
+    
+    tmpPub = linear
+.copyToBuf(addrPtr);
+    cntPub += tmpPub;
+    addrPtr += tmpPub;
+    
+    
+    
+    
+    
+    tmpPub = angular.copyToBuf(addrPtr);
+    cntPub += tmpPub;
+    addrPtr += tmpPub;
+    
+    
+    
+
+    return cntPub;
+  }
+
+  uint32_t copyFromBuf(const uint8_t *addrPtr) {
+    uint32_t tmpSub = 0;
+    uint32_t arraySize;
+    uint32_t stringSize;
+
+    
+    
+    
+    tmpSub = linear
+.copyFromBuf(addrPtr);
+    cntSub += tmpSub;
+    addrPtr += tmpSub;
+    
+
+    
+    
+    
+    
+    tmpSub = angular.copyFromBuf(addrPtr);
+    cntSub += tmpSub;
+    addrPtr += tmpSub;
+    
+
+    
+    
+
+    return cntSub;
+  }
+
+   void memAlign(uint8_t *addrPtr){
+    if (cntPub%4 > 0){
+      addrPtr += cntPub;
+      for(int i=0; i<(4-(cntPub%4)) ; i++){
+        *addrPtr = 0;
+        addrPtr += 1;
+      }
+      cntPub += 4-(cntPub%4);
+    }
+    return;
+  }
+
+  uint32_t getTotalSize(){
+    uint32_t tmpCntPub = cntPub;
+    cntPub = 0;
+    return tmpCntPub ;
+  }
+
+private:
+  std::string type_name = "geometry_msgs::msg::dds_::Twist";
+};
+};
+}
+
+namespace message_traits
+{
+template<>
+struct TypeName<geometry_msgs::msg::Twist*> {
+  static const char* value()
+  {
+    return "geometry_msgs::msg::dds_::Twist_";
+  }
+};
+}
+
+#endif
\ No newline at end of file

diff -r 159877d749c2 -r c80f65422d99 custom_msgs/geometry_msgs/msg/vector3.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/custom_msgs/geometry_msgs/msg/vector3.hpp	Sat Mar 19 09:23:37 2022 +0900
@@ -0,0 +1,178 @@
+#ifndef _GEOMETRY_MSGS_MSG_VECTOR3_H
+#define _GEOMETRY_MSGS_MSG_VECTOR3_H
+
+#include <iostream>
+#include <string>
+
+using namespace std;
+
+namespace geometry_msgs
+{
+namespace msg
+{
+class Vector3
+{
+public:
+  uint32_t cntPub = 0;
+  uint32_t cntSub = 0;
+
+    
+  double x
+;
+    
+  double y
+;
+    
+  double z;
+  
+
+  uint32_t copyToBuf(uint8_t *addrPtr)
+  {
+    uint32_t tmpPub = 0;
+    uint32_t arraySize;
+    uint32_t stringSize;
+    
+    
+    
+    if (cntPub%8 > 0){
+      for(int i=0; i<(8-(cntPub%8)) ; i++){
+        *addrPtr = 0;
+        addrPtr += 1;
+      }   
+      cntPub += 8-(cntPub%8);
+    }
+    
+    memcpy(addrPtr,&x
+,8);
+    addrPtr += 8;
+    cntPub += 8;
+
+    
+    
+    
+    
+    if (cntPub%8 > 0){
+      for(int i=0; i<(8-(cntPub%8)) ; i++){
+        *addrPtr = 0;
+        addrPtr += 1;
+      }   
+      cntPub += 8-(cntPub%8);
+    }
+    
+    memcpy(addrPtr,&y
+,8);
+    addrPtr += 8;
+    cntPub += 8;
+
+    
+    
+    
+    
+    if (cntPub%8 > 0){
+      for(int i=0; i<(8-(cntPub%8)) ; i++){
+        *addrPtr = 0;
+        addrPtr += 1;
+      }   
+      cntPub += 8-(cntPub%8);
+    }
+    
+    memcpy(addrPtr,&z,8);
+    addrPtr += 8;
+    cntPub += 8;
+
+    
+    
+
+    return cntPub;
+  }
+
+  uint32_t copyFromBuf(const uint8_t *addrPtr) {
+    uint32_t tmpSub = 0;
+    uint32_t arraySize;
+    uint32_t stringSize;
+
+    
+    
+    
+    if (cntSub%8 > 0){
+      for(int i=0; i<(8-(cntSub%8)) ; i++){
+        addrPtr += 1;
+      }   
+      cntSub += 8-(cntSub%8);
+    }
+    
+    memcpy(&x
+,addrPtr,8);
+    addrPtr += 8;
+    cntSub += 8;
+    
+    
+    
+    
+    if (cntSub%8 > 0){
+      for(int i=0; i<(8-(cntSub%8)) ; i++){
+        addrPtr += 1;
+      }   
+      cntSub += 8-(cntSub%8);
+    }
+    
+    memcpy(&y
+,addrPtr,8);
+    addrPtr += 8;
+    cntSub += 8;
+    
+    
+    
+    
+    if (cntSub%8 > 0){
+      for(int i=0; i<(8-(cntSub%8)) ; i++){
+        addrPtr += 1;
+      }   
+      cntSub += 8-(cntSub%8);
+    }
+    
+    memcpy(&z,addrPtr,8);
+    addrPtr += 8;
+    cntSub += 8;
+    
+    
+
+    return cntSub;
+  }
+
+   void memAlign(uint8_t *addrPtr){
+    if (cntPub%4 > 0){
+      addrPtr += cntPub;
+      for(int i=0; i<(4-(cntPub%4)) ; i++){
+        *addrPtr = 0;
+        addrPtr += 1;
+      }
+      cntPub += 4-(cntPub%4);
+    }
+    return;
+  }
+
+  uint32_t getTotalSize(){
+    uint32_t tmpCntPub = cntPub;
+    cntPub = 0;
+    return tmpCntPub ;
+  }
+
+private:
+  std::string type_name = "geometry_msgs::msg::dds_::Vector3";
+};
+};
+}
+
+namespace message_traits
+{
+template<>
+struct TypeName<geometry_msgs::msg::Vector3*> {
+  static const char* value()
+  {
+    return "geometry_msgs::msg::dds_::Vector3_";
+  }
+};
+}
+
+#endif
\ No newline at end of file

diff -r 159877d749c2 -r c80f65422d99 include/templates.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/include/templates.hpp	Sat Mar 19 09:23:37 2022 +0900
@@ -0,0 +1,95 @@
+#include "std_msgs/msg/u_int8.hpp"
+template mros2::Subscriber mros2::Node::create_subscription(std::string topic_name, int qos, void (*fp)(std_msgs::msg::UInt8*));
+template void mros2::Subscriber::callback_handler<std_msgs::msg::UInt8>(void *callee, const rtps::ReaderCacheChange &cacheChange);
+template mros2::Publisher mros2::Node::create_publisher<std_msgs::msg::UInt8>(std::string topic_name, int qos);
+template void mros2::Publisher::publish(std_msgs::msg::UInt8 &msg);
+
+#include "std_msgs/msg/u_int16.hpp"
+template mros2::Subscriber mros2::Node::create_subscription(std::string topic_name, int qos, void (*fp)(std_msgs::msg::UInt16*));
+template void mros2::Subscriber::callback_handler<std_msgs::msg::UInt16>(void *callee, const rtps::ReaderCacheChange &cacheChange);
+template mros2::Publisher mros2::Node::create_publisher<std_msgs::msg::UInt16>(std::string topic_name, int qos);
+template void mros2::Publisher::publish(std_msgs::msg::UInt16 &msg);
+
+#include "std_msgs/msg/u_int32.hpp"
+template mros2::Subscriber mros2::Node::create_subscription(std::string topic_name, int qos, void (*fp)(std_msgs::msg::UInt32*));
+template void mros2::Subscriber::callback_handler<std_msgs::msg::UInt32>(void *callee, const rtps::ReaderCacheChange &cacheChange);
+template mros2::Publisher mros2::Node::create_publisher<std_msgs::msg::UInt32>(std::string topic_name, int qos);
+template void mros2::Publisher::publish(std_msgs::msg::UInt32 &msg);
+
+#include "std_msgs/msg/u_int64.hpp"
+template mros2::Subscriber mros2::Node::create_subscription(std::string topic_name, int qos, void (*fp)(std_msgs::msg::UInt64*));
+template void mros2::Subscriber::callback_handler<std_msgs::msg::UInt64>(void *callee, const rtps::ReaderCacheChange &cacheChange);
+template mros2::Publisher mros2::Node::create_publisher<std_msgs::msg::UInt64>(std::string topic_name, int qos);
+template void mros2::Publisher::publish(std_msgs::msg::UInt64 &msg);
+
+#include "std_msgs/msg/int8.hpp"
+template mros2::Subscriber mros2::Node::create_subscription(std::string topic_name, int qos, void (*fp)(std_msgs::msg::Int8*));
+template void mros2::Subscriber::callback_handler<std_msgs::msg::Int8>(void *callee, const rtps::ReaderCacheChange &cacheChange);
+template mros2::Publisher mros2::Node::create_publisher<std_msgs::msg::Int8>(std::string topic_name, int qos);
+template void mros2::Publisher::publish(std_msgs::msg::Int8 &msg);
+
+#include "std_msgs/msg/int16.hpp"
+template mros2::Subscriber mros2::Node::create_subscription(std::string topic_name, int qos, void (*fp)(std_msgs::msg::Int16*));
+template void mros2::Subscriber::callback_handler<std_msgs::msg::Int16>(void *callee, const rtps::ReaderCacheChange &cacheChange);
+template mros2::Publisher mros2::Node::create_publisher<std_msgs::msg::Int16>(std::string topic_name, int qos);
+template void mros2::Publisher::publish(std_msgs::msg::Int16 &msg);
+
+#include "std_msgs/msg/int32.hpp"
+template mros2::Subscriber mros2::Node::create_subscription(std::string topic_name, int qos, void (*fp)(std_msgs::msg::Int32*));
+template void mros2::Subscriber::callback_handler<std_msgs::msg::Int32>(void *callee, const rtps::ReaderCacheChange &cacheChange);
+template mros2::Publisher mros2::Node::create_publisher<std_msgs::msg::Int32>(std::string topic_name, int qos);
+template void mros2::Publisher::publish(std_msgs::msg::Int32 &msg);
+
+#include "std_msgs/msg/int64.hpp"
+template mros2::Subscriber mros2::Node::create_subscription(std::string topic_name, int qos, void (*fp)(std_msgs::msg::Int64*));
+template void mros2::Subscriber::callback_handler<std_msgs::msg::Int64>(void *callee, const rtps::ReaderCacheChange &cacheChange);
+template mros2::Publisher mros2::Node::create_publisher<std_msgs::msg::Int64>(std::string topic_name, int qos);
+template void mros2::Publisher::publish(std_msgs::msg::Int64 &msg);
+
+#include "std_msgs/msg/float32.hpp"
+template mros2::Subscriber mros2::Node::create_subscription(std::string topic_name, int qos, void (*fp)(std_msgs::msg::Float32*));
+template void mros2::Subscriber::callback_handler<std_msgs::msg::Float32>(void *callee, const rtps::ReaderCacheChange &cacheChange);
+template mros2::Publisher mros2::Node::create_publisher<std_msgs::msg::Float32>(std::string topic_name, int qos);
+template void mros2::Publisher::publish(std_msgs::msg::Float32 &msg);
+
+#include "std_msgs/msg/float64.hpp"
+template mros2::Subscriber mros2::Node::create_subscription(std::string topic_name, int qos, void (*fp)(std_msgs::msg::Float64*));
+template void mros2::Subscriber::callback_handler<std_msgs::msg::Float64>(void *callee, const rtps::ReaderCacheChange &cacheChange);
+template mros2::Publisher mros2::Node::create_publisher<std_msgs::msg::Float64>(std::string topic_name, int qos);
+template void mros2::Publisher::publish(std_msgs::msg::Float64 &msg);
+
+#include "std_msgs/msg/char.hpp"
+template mros2::Publisher mros2::Node::create_publisher<std_msgs::msg::Char>(std::string topic_name, int qos);
+template void mros2::Publisher::publish(std_msgs::msg::Char &msg);
+template mros2::Subscriber mros2::Node::create_subscription(std::string topic_name, int qos, void (*fp)(std_msgs::msg::Char*));
+template void mros2::Subscriber::callback_handler<std_msgs::msg::Char>(void *callee, const rtps::ReaderCacheChange &cacheChange);
+
+#include "std_msgs/msg/bool.hpp"
+template mros2::Publisher mros2::Node::create_publisher<std_msgs::msg::Bool>(std::string topic_name, int qos);
+template void mros2::Publisher::publish(std_msgs::msg::Bool &msg);
+template mros2::Subscriber mros2::Node::create_subscription(std::string topic_name, int qos, void (*fp)(std_msgs::msg::Bool*));
+template void mros2::Subscriber::callback_handler<std_msgs::msg::Bool>(void *callee, const rtps::ReaderCacheChange &cacheChange);
+
+#include "std_msgs/msg/byte.hpp"
+template mros2::Publisher mros2::Node::create_publisher<std_msgs::msg::Byte>(std::string topic_name, int qos);
+template void mros2::Publisher::publish(std_msgs::msg::Byte &msg);
+template mros2::Subscriber mros2::Node::create_subscription(std::string topic_name, int qos, void (*fp)(std_msgs::msg::Byte*));
+template void mros2::Subscriber::callback_handler<std_msgs::msg::Byte>(void *callee, const rtps::ReaderCacheChange &cacheChange);
+
+#include "std_msgs/msg/string.hpp"
+template mros2::Publisher mros2::Node::create_publisher<std_msgs::msg::String>(std::string topic_name, int qos);
+template void mros2::Publisher::publish(std_msgs::msg::String &msg);
+template mros2::Subscriber mros2::Node::create_subscription(std::string topic_name, int qos, void (*fp)(std_msgs::msg::String*));
+template void mros2::Subscriber::callback_handler<std_msgs::msg::String>(void *callee, const rtps::ReaderCacheChange &cacheChange);
+
+#include "geometry_msgs/msg/twist.hpp"
+template mros2::Publisher mros2::Node::create_publisher<geometry_msgs::msg::Twist>(std::string topic_name, int qos);
+template void mros2::Publisher::publish( geometry_msgs::msg::Twist &msg);
+template mros2::Subscriber mros2::Node::create_subscription(std::string topic_name, int qos, void (*fp)(geometry_msgs::msg::Twist*));
+template void mros2::Subscriber::callback_handler<geometry_msgs::msg::Twist>(void *callee, const rtps::ReaderCacheChange &cacheChange);
+
+#include "geometry_msgs/msg/pose.hpp"
+template mros2::Publisher mros2::Node::create_publisher<geometry_msgs::msg::Pose>(std::string topic_name, int qos);
+template void mros2::Publisher::publish( geometry_msgs::msg::Pose &msg);
+template mros2::Subscriber mros2::Node::create_subscription(std::string topic_name, int qos, void (*fp)(geometry_msgs::msg::Pose*));
+template void mros2::Subscriber::callback_handler<geometry_msgs::msg::Pose>(void *callee, const rtps::ReaderCacheChange &cacheChange);

diff -r 159877d749c2 -r c80f65422d99 mros2_msgs/std_msgs/msg/header.hpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/mros2_msgs/std_msgs/msg/header.hpp	Sat Mar 19 09:23:37 2022 +0900
@@ -0,0 +1,80 @@
+#include <string>
+
+namespace std_msgs
+{
+namespace msg
+{
+class Header
+{
+public:
+  std::string getTypeName();
+  int32_t sec;
+  uint32_t nanosec;
+  std::string frame_id;
+  uint8_t cntPub = 0;
+  uint32_t pubSize;
+  uint32_t subSize;
+
+  void copyToBuf(uint8_t *addrPtr)
+  {
+    memcpy(addrPtr, &sec, 4);
+    addrPtr += 4;
+    cntPub += 4;
+    memcpy(addrPtr, &nanosec, 4);
+    addrPtr += 4;
+    cntPub += 4;
+    pubSize = frame_id.size();
+    memcpy(addrPtr, &pubSize, 4);
+    addrPtr += 4;
+    cntPub += 4;
+    memcpy(addrPtr, frame_id.c_str(),pubSize);
+    addrPtr += pubSize;
+    cntPub += pubSize;
+  }
+
+  void copyFromBuf(const uint8_t *addrPtr)
+  {
+    memcpy(&sec, addrPtr, 4);
+    addrPtr += 4;
+    memcpy(&nanosec, addrPtr, 4);
+    addrPtr += 4;
+    memcpy(&subSize, addrPtr, 4);
+    addrPtr += 4;
+    frame_id.resize(subSize);
+    memcpy(&frame_id[0], addrPtr, subSize);
+  }
+
+   void memAlign(uint8_t *addrPtr){
+    if (cntPub%4 > 0){
+      addrPtr += cntPub;
+      for(int i=0; i<(4-(cntPub%4)) ; i++){
+        *addrPtr = 0;
+        addrPtr += 1;
+      }
+      cntPub += 4-(cntPub%4);
+    }
+    return;
+  }
+
+  uint8_t getTotalSize()
+  {
+    return cntPub;
+  }
+private:
+  std::string type_name = "std_msgs::msg::dds_::Header";
+};
+}//namspace msg
+}//namespace std_msgs
+
+namespace message_traits
+{
+
+template<>
+struct TypeName<std_msgs::msg::Header*> {
+  static const char* value()
+  {
+    return "std_msgs::msg::dds_::Header_";
+  }
+};
+
+}