# This Python file uses the following encoding: utf-8
"""autogenerated by genpy from panda_gazebo/FollowJointTrajectoryAction.msg. Do not edit."""
import codecs
import sys
[docs]python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct
import actionlib_msgs.msg
import control_msgs.msg
import genpy
import panda_gazebo.msg
import std_msgs.msg
import trajectory_msgs.msg
[docs]class FollowJointTrajectoryAction(genpy.Message):
_md5sum = "b51c7644abd094150684c4b3caf25fbc"
_type = "panda_gazebo/FollowJointTrajectoryAction"
_has_header = False # flag to mark the presence of a Header object
_full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
FollowJointTrajectoryActionGoal action_goal
FollowJointTrajectoryActionResult action_result
FollowJointTrajectoryActionFeedback action_feedback
================================================================================
MSG: panda_gazebo/FollowJointTrajectoryActionGoal
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
Header header
actionlib_msgs/GoalID goal_id
FollowJointTrajectoryGoal goal
================================================================================
MSG: std_msgs/Header
# Standard metadata for higher-level stamped data types.
# This is generally used to communicate timestamped data
# in a particular coordinate frame.
#
# sequence ID: consecutively increasing ID
uint32 seq
#Two-integer timestamp that is expressed as:
# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
# time-handling sugar is provided by the client library
time stamp
#Frame this data is associated with
string frame_id
================================================================================
MSG: actionlib_msgs/GoalID
# The stamp should store the time at which this goal was requested.
# It is used by an action server when it tries to preempt all
# goals that were requested before a certain time
time stamp
# The id provides a way to associate feedback and
# result message with specific goal requests. The id
# specified must be unique.
string id
================================================================================
MSG: panda_gazebo/FollowJointTrajectoryGoal
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
# Follow_joint_trajectory action
# NOTE: This action extends the control_msgs/FollowJointTrajectoryAction such that
# it also contains values to automatically generate the time axis
# The joint trajectory to follow
trajectory_msgs/JointTrajectory trajectory
# Tolerances for the trajectory. If the measured joint values fall
# outside the tolerances the trajectory goal is aborted. Any
# tolerances that are not specified (by being omitted or set to 0) are
# set to the defaults for the action server (often taken from the
# parameter server).
# Tolerances applied to the joints as the trajectory is executed. If
# violated, the goal aborts with error_code set to
# PATH_TOLERANCE_VIOLATED.
control_msgs/JointTolerance[] path_tolerance
# To report success, the joints must be within goal_tolerance of the
# final trajectory value. The goal must be achieved by time the
# trajectory ends plus goal_time_tolerance. (goal_time_tolerance
# allows some leeway in time, so that the trajectory goal can still
# succeed even if the joints reach the goal some time after the
# precise end time of the trajectory).
#
# If the joints are not within goal_tolerance after "trajectory finish
# time" + goal_time_tolerance, the goal aborts with error_code set to
# GOAL_TOLERANCE_VIOLATED
control_msgs/JointTolerance[] goal_tolerance
duration goal_time_tolerance
# Extra time axis attributes
# NOTE: Used for automatic time axis generation
bool create_time_axis # Automatically create a time axis
float64 time_axis_step # Time axis step size
duration timeout # Action server timeout. If set to 0, no timeout is used and action waits indefinitely.
================================================================================
MSG: trajectory_msgs/JointTrajectory
Header header
string[] joint_names
JointTrajectoryPoint[] points
================================================================================
MSG: trajectory_msgs/JointTrajectoryPoint
# Each trajectory point specifies either positions[, velocities[, accelerations]]
# or positions[, effort] for the trajectory to be executed.
# All specified values are in the same order as the joint names in JointTrajectory.msg
float64[] positions
float64[] velocities
float64[] accelerations
float64[] effort
duration time_from_start
================================================================================
MSG: control_msgs/JointTolerance
# The tolerances specify the amount the position, velocity, and
# accelerations can vary from the setpoints. For example, in the case
# of trajectory control, when the actual position varies beyond
# (desired position + position tolerance), the trajectory goal may
# abort.
#
# There are two special values for tolerances:
# * 0 - The tolerance is unspecified and will remain at whatever the default is
# * -1 - The tolerance is "erased". If there was a default, the joint will be
# allowed to move without restriction.
string name
float64 position # in radians or meters (for a revolute or prismatic joint, respectively)
float64 velocity # in rad/sec or m/sec
float64 acceleration # in rad/sec^2 or m/sec^2
================================================================================
MSG: panda_gazebo/FollowJointTrajectoryActionResult
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
Header header
actionlib_msgs/GoalStatus status
FollowJointTrajectoryResult result
================================================================================
MSG: actionlib_msgs/GoalStatus
GoalID goal_id
uint8 status
uint8 PENDING = 0 # The goal has yet to be processed by the action server
uint8 ACTIVE = 1 # The goal is currently being processed by the action server
uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing
# and has since completed its execution (Terminal State)
uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)
uint8 ABORTED = 4 # The goal was aborted during execution by the action server due
# to some failure (Terminal State)
uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,
# because the goal was unattainable or invalid (Terminal State)
uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing
# and has not yet completed execution
uint8 RECALLING = 7 # The goal received a cancel request before it started executing,
# but the action server has not yet confirmed that the goal is canceled
uint8 RECALLED = 8 # The goal received a cancel request before it started executing
# and was successfully cancelled (Terminal State)
uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be
# sent over the wire by an action server
#Allow for the user to associate a string with GoalStatus for debugging
string text
================================================================================
MSG: panda_gazebo/FollowJointTrajectoryResult
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
int32 error_code
int32 SUCCESSFUL = 0
int32 INVALID_GOAL = -1
int32 INVALID_JOINTS = -2
int32 OLD_HEADER_TIMESTAMP = -3
int32 PATH_TOLERANCE_VIOLATED = -4
int32 GOAL_TOLERANCE_VIOLATED = -5
int32 ACTION_TIMEOUT = -6
# Human readable description of the error code. Contains complementary
# information that is especially useful when execution fails, for instance:
# - INVALID_GOAL: The reason for the invalid goal (e.g., the requested
# trajectory is in the past).
# - INVALID_JOINTS: The mismatch between the expected controller joints
# and those provided in the goal.
# - PATH_TOLERANCE_VIOLATED and GOAL_TOLERANCE_VIOLATED: Which joint
# violated which tolerance, and by how much.
# - ACTION_TIMEOUT: The controller failed to achieve the goal before
# the specified timeout elapsed.
string error_string
================================================================================
MSG: panda_gazebo/FollowJointTrajectoryActionFeedback
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
Header header
actionlib_msgs/GoalStatus status
FollowJointTrajectoryFeedback feedback
================================================================================
MSG: panda_gazebo/FollowJointTrajectoryFeedback
# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
Header header
string[] joint_names
trajectory_msgs/JointTrajectoryPoint desired
trajectory_msgs/JointTrajectoryPoint actual
trajectory_msgs/JointTrajectoryPoint error
"""
__slots__ = ['action_goal','action_result','action_feedback']
_slot_types = ['panda_gazebo/FollowJointTrajectoryActionGoal','panda_gazebo/FollowJointTrajectoryActionResult','panda_gazebo/FollowJointTrajectoryActionFeedback']
def __init__(self, *args, **kwds):
"""
Constructor. Any message fields that are implicitly/explicitly
set to None will be assigned a default value. The recommend
use is keyword arguments as this is more robust to future message
changes. You cannot mix in-order arguments and keyword arguments.
The available fields are:
action_goal,action_result,action_feedback
:param args: complete set of field values, in .msg order
:param kwds: use keyword arguments corresponding to message field names
to set specific fields.
"""
if args or kwds:
super(FollowJointTrajectoryAction, self).__init__(*args, **kwds)
# message fields cannot be None, assign default values for those that are
if self.action_goal is None:
self.action_goal = panda_gazebo.msg.FollowJointTrajectoryActionGoal()
if self.action_result is None:
self.action_result = panda_gazebo.msg.FollowJointTrajectoryActionResult()
if self.action_feedback is None:
self.action_feedback = panda_gazebo.msg.FollowJointTrajectoryActionFeedback()
else:
self.action_goal = panda_gazebo.msg.FollowJointTrajectoryActionGoal()
self.action_result = panda_gazebo.msg.FollowJointTrajectoryActionResult()
self.action_feedback = panda_gazebo.msg.FollowJointTrajectoryActionFeedback()
def _get_types(self):
"""
internal API method
"""
return self._slot_types
[docs] def serialize(self, buff):
"""
serialize message into buffer
:param buff: buffer, ``StringIO``
"""
try:
_x = self
buff.write(_get_struct_3I().pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
_x = self.action_goal.header.frame_id
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = self
buff.write(_get_struct_2I().pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
_x = self.action_goal.goal_id.id
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = self
buff.write(_get_struct_3I().pack(_x.action_goal.goal.trajectory.header.seq, _x.action_goal.goal.trajectory.header.stamp.secs, _x.action_goal.goal.trajectory.header.stamp.nsecs))
_x = self.action_goal.goal.trajectory.header.frame_id
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
length = len(self.action_goal.goal.trajectory.joint_names)
buff.write(_struct_I.pack(length))
for val1 in self.action_goal.goal.trajectory.joint_names:
length = len(val1)
if python3 or type(val1) == unicode:
val1 = val1.encode('utf-8')
length = len(val1)
buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
length = len(self.action_goal.goal.trajectory.points)
buff.write(_struct_I.pack(length))
for val1 in self.action_goal.goal.trajectory.points:
length = len(val1.positions)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*val1.positions))
length = len(val1.velocities)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*val1.velocities))
length = len(val1.accelerations)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*val1.accelerations))
length = len(val1.effort)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*val1.effort))
_v1 = val1.time_from_start
_x = _v1
buff.write(_get_struct_2i().pack(_x.secs, _x.nsecs))
length = len(self.action_goal.goal.path_tolerance)
buff.write(_struct_I.pack(length))
for val1 in self.action_goal.goal.path_tolerance:
_x = val1.name
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = val1
buff.write(_get_struct_3d().pack(_x.position, _x.velocity, _x.acceleration))
length = len(self.action_goal.goal.goal_tolerance)
buff.write(_struct_I.pack(length))
for val1 in self.action_goal.goal.goal_tolerance:
_x = val1.name
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = val1
buff.write(_get_struct_3d().pack(_x.position, _x.velocity, _x.acceleration))
_x = self
buff.write(_get_struct_2iBd2i3I().pack(_x.action_goal.goal.goal_time_tolerance.secs, _x.action_goal.goal.goal_time_tolerance.nsecs, _x.action_goal.goal.create_time_axis, _x.action_goal.goal.time_axis_step, _x.action_goal.goal.timeout.secs, _x.action_goal.goal.timeout.nsecs, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
_x = self.action_result.header.frame_id
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = self
buff.write(_get_struct_2I().pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
_x = self.action_result.status.goal_id.id
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = self.action_result.status.status
buff.write(_get_struct_B().pack(_x))
_x = self.action_result.status.text
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = self.action_result.result.error_code
buff.write(_get_struct_i().pack(_x))
_x = self.action_result.result.error_string
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = self
buff.write(_get_struct_3I().pack(_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
_x = self.action_feedback.header.frame_id
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = self
buff.write(_get_struct_2I().pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
_x = self.action_feedback.status.goal_id.id
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = self.action_feedback.status.status
buff.write(_get_struct_B().pack(_x))
_x = self.action_feedback.status.text
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = self
buff.write(_get_struct_3I().pack(_x.action_feedback.feedback.header.seq, _x.action_feedback.feedback.header.stamp.secs, _x.action_feedback.feedback.header.stamp.nsecs))
_x = self.action_feedback.feedback.header.frame_id
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
length = len(self.action_feedback.feedback.joint_names)
buff.write(_struct_I.pack(length))
for val1 in self.action_feedback.feedback.joint_names:
length = len(val1)
if python3 or type(val1) == unicode:
val1 = val1.encode('utf-8')
length = len(val1)
buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
length = len(self.action_feedback.feedback.desired.positions)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*self.action_feedback.feedback.desired.positions))
length = len(self.action_feedback.feedback.desired.velocities)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*self.action_feedback.feedback.desired.velocities))
length = len(self.action_feedback.feedback.desired.accelerations)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*self.action_feedback.feedback.desired.accelerations))
length = len(self.action_feedback.feedback.desired.effort)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*self.action_feedback.feedback.desired.effort))
_x = self
buff.write(_get_struct_2i().pack(_x.action_feedback.feedback.desired.time_from_start.secs, _x.action_feedback.feedback.desired.time_from_start.nsecs))
length = len(self.action_feedback.feedback.actual.positions)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*self.action_feedback.feedback.actual.positions))
length = len(self.action_feedback.feedback.actual.velocities)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*self.action_feedback.feedback.actual.velocities))
length = len(self.action_feedback.feedback.actual.accelerations)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*self.action_feedback.feedback.actual.accelerations))
length = len(self.action_feedback.feedback.actual.effort)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*self.action_feedback.feedback.actual.effort))
_x = self
buff.write(_get_struct_2i().pack(_x.action_feedback.feedback.actual.time_from_start.secs, _x.action_feedback.feedback.actual.time_from_start.nsecs))
length = len(self.action_feedback.feedback.error.positions)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*self.action_feedback.feedback.error.positions))
length = len(self.action_feedback.feedback.error.velocities)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*self.action_feedback.feedback.error.velocities))
length = len(self.action_feedback.feedback.error.accelerations)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*self.action_feedback.feedback.error.accelerations))
length = len(self.action_feedback.feedback.error.effort)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*self.action_feedback.feedback.error.effort))
_x = self
buff.write(_get_struct_2i().pack(_x.action_feedback.feedback.error.time_from_start.secs, _x.action_feedback.feedback.error.time_from_start.nsecs))
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
[docs] def deserialize(self, str):
"""
unpack serialized message in str into this message instance
:param str: byte array of serialized message, ``str``
"""
if python3:
codecs.lookup_error("rosmsg").msg_type = self._type
try:
if self.action_goal is None:
self.action_goal = panda_gazebo.msg.FollowJointTrajectoryActionGoal()
if self.action_result is None:
self.action_result = panda_gazebo.msg.FollowJointTrajectoryActionResult()
if self.action_feedback is None:
self.action_feedback = panda_gazebo.msg.FollowJointTrajectoryActionFeedback()
end = 0
_x = self
start = end
end += 12
(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.action_goal.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
else:
self.action_goal.header.frame_id = str[start:end]
_x = self
start = end
end += 8
(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _get_struct_2I().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.action_goal.goal_id.id = str[start:end].decode('utf-8', 'rosmsg')
else:
self.action_goal.goal_id.id = str[start:end]
_x = self
start = end
end += 12
(_x.action_goal.goal.trajectory.header.seq, _x.action_goal.goal.trajectory.header.stamp.secs, _x.action_goal.goal.trajectory.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.action_goal.goal.trajectory.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
else:
self.action_goal.goal.trajectory.header.frame_id = str[start:end]
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.action_goal.goal.trajectory.joint_names = []
for i in range(0, length):
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
val1 = str[start:end].decode('utf-8', 'rosmsg')
else:
val1 = str[start:end]
self.action_goal.goal.trajectory.joint_names.append(val1)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.action_goal.goal.trajectory.points = []
for i in range(0, length):
val1 = trajectory_msgs.msg.JointTrajectoryPoint()
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
val1.positions = s.unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
val1.velocities = s.unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
val1.accelerations = s.unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
val1.effort = s.unpack(str[start:end])
_v2 = val1.time_from_start
_x = _v2
start = end
end += 8
(_x.secs, _x.nsecs,) = _get_struct_2i().unpack(str[start:end])
self.action_goal.goal.trajectory.points.append(val1)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.action_goal.goal.path_tolerance = []
for i in range(0, length):
val1 = control_msgs.msg.JointTolerance()
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
val1.name = str[start:end].decode('utf-8', 'rosmsg')
else:
val1.name = str[start:end]
_x = val1
start = end
end += 24
(_x.position, _x.velocity, _x.acceleration,) = _get_struct_3d().unpack(str[start:end])
self.action_goal.goal.path_tolerance.append(val1)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.action_goal.goal.goal_tolerance = []
for i in range(0, length):
val1 = control_msgs.msg.JointTolerance()
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
val1.name = str[start:end].decode('utf-8', 'rosmsg')
else:
val1.name = str[start:end]
_x = val1
start = end
end += 24
(_x.position, _x.velocity, _x.acceleration,) = _get_struct_3d().unpack(str[start:end])
self.action_goal.goal.goal_tolerance.append(val1)
_x = self
start = end
end += 37
(_x.action_goal.goal.goal_time_tolerance.secs, _x.action_goal.goal.goal_time_tolerance.nsecs, _x.action_goal.goal.create_time_axis, _x.action_goal.goal.time_axis_step, _x.action_goal.goal.timeout.secs, _x.action_goal.goal.timeout.nsecs, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _get_struct_2iBd2i3I().unpack(str[start:end])
self.action_goal.goal.create_time_axis = bool(self.action_goal.goal.create_time_axis)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.action_result.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
else:
self.action_result.header.frame_id = str[start:end]
_x = self
start = end
end += 8
(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _get_struct_2I().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.action_result.status.goal_id.id = str[start:end].decode('utf-8', 'rosmsg')
else:
self.action_result.status.goal_id.id = str[start:end]
start = end
end += 1
(self.action_result.status.status,) = _get_struct_B().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.action_result.status.text = str[start:end].decode('utf-8', 'rosmsg')
else:
self.action_result.status.text = str[start:end]
start = end
end += 4
(self.action_result.result.error_code,) = _get_struct_i().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.action_result.result.error_string = str[start:end].decode('utf-8', 'rosmsg')
else:
self.action_result.result.error_string = str[start:end]
_x = self
start = end
end += 12
(_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.action_feedback.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
else:
self.action_feedback.header.frame_id = str[start:end]
_x = self
start = end
end += 8
(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _get_struct_2I().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8', 'rosmsg')
else:
self.action_feedback.status.goal_id.id = str[start:end]
start = end
end += 1
(self.action_feedback.status.status,) = _get_struct_B().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.action_feedback.status.text = str[start:end].decode('utf-8', 'rosmsg')
else:
self.action_feedback.status.text = str[start:end]
_x = self
start = end
end += 12
(_x.action_feedback.feedback.header.seq, _x.action_feedback.feedback.header.stamp.secs, _x.action_feedback.feedback.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.action_feedback.feedback.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
else:
self.action_feedback.feedback.header.frame_id = str[start:end]
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.action_feedback.feedback.joint_names = []
for i in range(0, length):
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
val1 = str[start:end].decode('utf-8', 'rosmsg')
else:
val1 = str[start:end]
self.action_feedback.feedback.joint_names.append(val1)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.action_feedback.feedback.desired.positions = s.unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.action_feedback.feedback.desired.velocities = s.unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.action_feedback.feedback.desired.accelerations = s.unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.action_feedback.feedback.desired.effort = s.unpack(str[start:end])
_x = self
start = end
end += 8
(_x.action_feedback.feedback.desired.time_from_start.secs, _x.action_feedback.feedback.desired.time_from_start.nsecs,) = _get_struct_2i().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.action_feedback.feedback.actual.positions = s.unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.action_feedback.feedback.actual.velocities = s.unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.action_feedback.feedback.actual.accelerations = s.unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.action_feedback.feedback.actual.effort = s.unpack(str[start:end])
_x = self
start = end
end += 8
(_x.action_feedback.feedback.actual.time_from_start.secs, _x.action_feedback.feedback.actual.time_from_start.nsecs,) = _get_struct_2i().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.action_feedback.feedback.error.positions = s.unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.action_feedback.feedback.error.velocities = s.unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.action_feedback.feedback.error.accelerations = s.unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.action_feedback.feedback.error.effort = s.unpack(str[start:end])
_x = self
start = end
end += 8
(_x.action_feedback.feedback.error.time_from_start.secs, _x.action_feedback.feedback.error.time_from_start.nsecs,) = _get_struct_2i().unpack(str[start:end])
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
[docs] def serialize_numpy(self, buff, numpy):
"""
serialize message with numpy array types into buffer
:param buff: buffer, ``StringIO``
:param numpy: numpy python module
"""
try:
_x = self
buff.write(_get_struct_3I().pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
_x = self.action_goal.header.frame_id
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = self
buff.write(_get_struct_2I().pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
_x = self.action_goal.goal_id.id
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = self
buff.write(_get_struct_3I().pack(_x.action_goal.goal.trajectory.header.seq, _x.action_goal.goal.trajectory.header.stamp.secs, _x.action_goal.goal.trajectory.header.stamp.nsecs))
_x = self.action_goal.goal.trajectory.header.frame_id
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
length = len(self.action_goal.goal.trajectory.joint_names)
buff.write(_struct_I.pack(length))
for val1 in self.action_goal.goal.trajectory.joint_names:
length = len(val1)
if python3 or type(val1) == unicode:
val1 = val1.encode('utf-8')
length = len(val1)
buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
length = len(self.action_goal.goal.trajectory.points)
buff.write(_struct_I.pack(length))
for val1 in self.action_goal.goal.trajectory.points:
length = len(val1.positions)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(val1.positions.tostring())
length = len(val1.velocities)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(val1.velocities.tostring())
length = len(val1.accelerations)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(val1.accelerations.tostring())
length = len(val1.effort)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(val1.effort.tostring())
_v3 = val1.time_from_start
_x = _v3
buff.write(_get_struct_2i().pack(_x.secs, _x.nsecs))
length = len(self.action_goal.goal.path_tolerance)
buff.write(_struct_I.pack(length))
for val1 in self.action_goal.goal.path_tolerance:
_x = val1.name
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = val1
buff.write(_get_struct_3d().pack(_x.position, _x.velocity, _x.acceleration))
length = len(self.action_goal.goal.goal_tolerance)
buff.write(_struct_I.pack(length))
for val1 in self.action_goal.goal.goal_tolerance:
_x = val1.name
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = val1
buff.write(_get_struct_3d().pack(_x.position, _x.velocity, _x.acceleration))
_x = self
buff.write(_get_struct_2iBd2i3I().pack(_x.action_goal.goal.goal_time_tolerance.secs, _x.action_goal.goal.goal_time_tolerance.nsecs, _x.action_goal.goal.create_time_axis, _x.action_goal.goal.time_axis_step, _x.action_goal.goal.timeout.secs, _x.action_goal.goal.timeout.nsecs, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
_x = self.action_result.header.frame_id
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = self
buff.write(_get_struct_2I().pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
_x = self.action_result.status.goal_id.id
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = self.action_result.status.status
buff.write(_get_struct_B().pack(_x))
_x = self.action_result.status.text
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = self.action_result.result.error_code
buff.write(_get_struct_i().pack(_x))
_x = self.action_result.result.error_string
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = self
buff.write(_get_struct_3I().pack(_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
_x = self.action_feedback.header.frame_id
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = self
buff.write(_get_struct_2I().pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
_x = self.action_feedback.status.goal_id.id
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = self.action_feedback.status.status
buff.write(_get_struct_B().pack(_x))
_x = self.action_feedback.status.text
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
_x = self
buff.write(_get_struct_3I().pack(_x.action_feedback.feedback.header.seq, _x.action_feedback.feedback.header.stamp.secs, _x.action_feedback.feedback.header.stamp.nsecs))
_x = self.action_feedback.feedback.header.frame_id
length = len(_x)
if python3 or type(_x) == unicode:
_x = _x.encode('utf-8')
length = len(_x)
buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
length = len(self.action_feedback.feedback.joint_names)
buff.write(_struct_I.pack(length))
for val1 in self.action_feedback.feedback.joint_names:
length = len(val1)
if python3 or type(val1) == unicode:
val1 = val1.encode('utf-8')
length = len(val1)
buff.write(struct.Struct('<I%ss'%length).pack(length, val1))
length = len(self.action_feedback.feedback.desired.positions)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(self.action_feedback.feedback.desired.positions.tostring())
length = len(self.action_feedback.feedback.desired.velocities)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(self.action_feedback.feedback.desired.velocities.tostring())
length = len(self.action_feedback.feedback.desired.accelerations)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(self.action_feedback.feedback.desired.accelerations.tostring())
length = len(self.action_feedback.feedback.desired.effort)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(self.action_feedback.feedback.desired.effort.tostring())
_x = self
buff.write(_get_struct_2i().pack(_x.action_feedback.feedback.desired.time_from_start.secs, _x.action_feedback.feedback.desired.time_from_start.nsecs))
length = len(self.action_feedback.feedback.actual.positions)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(self.action_feedback.feedback.actual.positions.tostring())
length = len(self.action_feedback.feedback.actual.velocities)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(self.action_feedback.feedback.actual.velocities.tostring())
length = len(self.action_feedback.feedback.actual.accelerations)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(self.action_feedback.feedback.actual.accelerations.tostring())
length = len(self.action_feedback.feedback.actual.effort)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(self.action_feedback.feedback.actual.effort.tostring())
_x = self
buff.write(_get_struct_2i().pack(_x.action_feedback.feedback.actual.time_from_start.secs, _x.action_feedback.feedback.actual.time_from_start.nsecs))
length = len(self.action_feedback.feedback.error.positions)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(self.action_feedback.feedback.error.positions.tostring())
length = len(self.action_feedback.feedback.error.velocities)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(self.action_feedback.feedback.error.velocities.tostring())
length = len(self.action_feedback.feedback.error.accelerations)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(self.action_feedback.feedback.error.accelerations.tostring())
length = len(self.action_feedback.feedback.error.effort)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(self.action_feedback.feedback.error.effort.tostring())
_x = self
buff.write(_get_struct_2i().pack(_x.action_feedback.feedback.error.time_from_start.secs, _x.action_feedback.feedback.error.time_from_start.nsecs))
except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
[docs] def deserialize_numpy(self, str, numpy):
"""
unpack serialized message in str into this message instance using numpy for array types
:param str: byte array of serialized message, ``str``
:param numpy: numpy python module
"""
if python3:
codecs.lookup_error("rosmsg").msg_type = self._type
try:
if self.action_goal is None:
self.action_goal = panda_gazebo.msg.FollowJointTrajectoryActionGoal()
if self.action_result is None:
self.action_result = panda_gazebo.msg.FollowJointTrajectoryActionResult()
if self.action_feedback is None:
self.action_feedback = panda_gazebo.msg.FollowJointTrajectoryActionFeedback()
end = 0
_x = self
start = end
end += 12
(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.action_goal.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
else:
self.action_goal.header.frame_id = str[start:end]
_x = self
start = end
end += 8
(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _get_struct_2I().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.action_goal.goal_id.id = str[start:end].decode('utf-8', 'rosmsg')
else:
self.action_goal.goal_id.id = str[start:end]
_x = self
start = end
end += 12
(_x.action_goal.goal.trajectory.header.seq, _x.action_goal.goal.trajectory.header.stamp.secs, _x.action_goal.goal.trajectory.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.action_goal.goal.trajectory.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
else:
self.action_goal.goal.trajectory.header.frame_id = str[start:end]
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.action_goal.goal.trajectory.joint_names = []
for i in range(0, length):
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
val1 = str[start:end].decode('utf-8', 'rosmsg')
else:
val1 = str[start:end]
self.action_goal.goal.trajectory.joint_names.append(val1)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.action_goal.goal.trajectory.points = []
for i in range(0, length):
val1 = trajectory_msgs.msg.JointTrajectoryPoint()
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
val1.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
val1.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
val1.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
val1.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
_v4 = val1.time_from_start
_x = _v4
start = end
end += 8
(_x.secs, _x.nsecs,) = _get_struct_2i().unpack(str[start:end])
self.action_goal.goal.trajectory.points.append(val1)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.action_goal.goal.path_tolerance = []
for i in range(0, length):
val1 = control_msgs.msg.JointTolerance()
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
val1.name = str[start:end].decode('utf-8', 'rosmsg')
else:
val1.name = str[start:end]
_x = val1
start = end
end += 24
(_x.position, _x.velocity, _x.acceleration,) = _get_struct_3d().unpack(str[start:end])
self.action_goal.goal.path_tolerance.append(val1)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.action_goal.goal.goal_tolerance = []
for i in range(0, length):
val1 = control_msgs.msg.JointTolerance()
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
val1.name = str[start:end].decode('utf-8', 'rosmsg')
else:
val1.name = str[start:end]
_x = val1
start = end
end += 24
(_x.position, _x.velocity, _x.acceleration,) = _get_struct_3d().unpack(str[start:end])
self.action_goal.goal.goal_tolerance.append(val1)
_x = self
start = end
end += 37
(_x.action_goal.goal.goal_time_tolerance.secs, _x.action_goal.goal.goal_time_tolerance.nsecs, _x.action_goal.goal.create_time_axis, _x.action_goal.goal.time_axis_step, _x.action_goal.goal.timeout.secs, _x.action_goal.goal.timeout.nsecs, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _get_struct_2iBd2i3I().unpack(str[start:end])
self.action_goal.goal.create_time_axis = bool(self.action_goal.goal.create_time_axis)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.action_result.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
else:
self.action_result.header.frame_id = str[start:end]
_x = self
start = end
end += 8
(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _get_struct_2I().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.action_result.status.goal_id.id = str[start:end].decode('utf-8', 'rosmsg')
else:
self.action_result.status.goal_id.id = str[start:end]
start = end
end += 1
(self.action_result.status.status,) = _get_struct_B().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.action_result.status.text = str[start:end].decode('utf-8', 'rosmsg')
else:
self.action_result.status.text = str[start:end]
start = end
end += 4
(self.action_result.result.error_code,) = _get_struct_i().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.action_result.result.error_string = str[start:end].decode('utf-8', 'rosmsg')
else:
self.action_result.result.error_string = str[start:end]
_x = self
start = end
end += 12
(_x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.action_feedback.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
else:
self.action_feedback.header.frame_id = str[start:end]
_x = self
start = end
end += 8
(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _get_struct_2I().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.action_feedback.status.goal_id.id = str[start:end].decode('utf-8', 'rosmsg')
else:
self.action_feedback.status.goal_id.id = str[start:end]
start = end
end += 1
(self.action_feedback.status.status,) = _get_struct_B().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.action_feedback.status.text = str[start:end].decode('utf-8', 'rosmsg')
else:
self.action_feedback.status.text = str[start:end]
_x = self
start = end
end += 12
(_x.action_feedback.feedback.header.seq, _x.action_feedback.feedback.header.stamp.secs, _x.action_feedback.feedback.header.stamp.nsecs,) = _get_struct_3I().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.action_feedback.feedback.header.frame_id = str[start:end].decode('utf-8', 'rosmsg')
else:
self.action_feedback.feedback.header.frame_id = str[start:end]
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.action_feedback.feedback.joint_names = []
for i in range(0, length):
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
val1 = str[start:end].decode('utf-8', 'rosmsg')
else:
val1 = str[start:end]
self.action_feedback.feedback.joint_names.append(val1)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.action_feedback.feedback.desired.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.action_feedback.feedback.desired.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.action_feedback.feedback.desired.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.action_feedback.feedback.desired.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
_x = self
start = end
end += 8
(_x.action_feedback.feedback.desired.time_from_start.secs, _x.action_feedback.feedback.desired.time_from_start.nsecs,) = _get_struct_2i().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.action_feedback.feedback.actual.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.action_feedback.feedback.actual.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.action_feedback.feedback.actual.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.action_feedback.feedback.actual.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
_x = self
start = end
end += 8
(_x.action_feedback.feedback.actual.time_from_start.secs, _x.action_feedback.feedback.actual.time_from_start.nsecs,) = _get_struct_2i().unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.action_feedback.feedback.error.positions = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.action_feedback.feedback.error.velocities = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.action_feedback.feedback.error.accelerations = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
pattern = '<%sd'%length
start = end
s = struct.Struct(pattern)
end += s.size
self.action_feedback.feedback.error.effort = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
_x = self
start = end
end += 8
(_x.action_feedback.feedback.error.time_from_start.secs, _x.action_feedback.feedback.error.time_from_start.nsecs,) = _get_struct_2i().unpack(str[start:end])
return self
except struct.error as e:
raise genpy.DeserializationError(e) # most likely buffer underfill
_struct_I = genpy.struct_I
def _get_struct_I():
global _struct_I
return _struct_I
_struct_2I = None
def _get_struct_2I():
global _struct_2I
if _struct_2I is None:
_struct_2I = struct.Struct("<2I")
return _struct_2I
_struct_2i = None
def _get_struct_2i():
global _struct_2i
if _struct_2i is None:
_struct_2i = struct.Struct("<2i")
return _struct_2i
_struct_2iBd2i3I = None
def _get_struct_2iBd2i3I():
global _struct_2iBd2i3I
if _struct_2iBd2i3I is None:
_struct_2iBd2i3I = struct.Struct("<2iBd2i3I")
return _struct_2iBd2i3I
_struct_3I = None
def _get_struct_3I():
global _struct_3I
if _struct_3I is None:
_struct_3I = struct.Struct("<3I")
return _struct_3I
_struct_3d = None
def _get_struct_3d():
global _struct_3d
if _struct_3d is None:
_struct_3d = struct.Struct("<3d")
return _struct_3d
_struct_B = None
def _get_struct_B():
global _struct_B
if _struct_B is None:
_struct_B = struct.Struct("<B")
return _struct_B
_struct_i = None
def _get_struct_i():
global _struct_i
if _struct_i is None:
_struct_i = struct.Struct("<i")
return _struct_i