# This Python file uses the following encoding: utf-8
"""autogenerated by genpy from panda_gazebo/SetJointCommandsRequest.msg. Do not edit."""
import codecs
import sys
python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct
[docs]class SetJointCommandsRequest(genpy.Message):
_md5sum = "a8942b29bfe99bfd6103c2355733bbd0"
_type = "panda_gazebo/SetJointCommandsRequest"
_has_header = False # flag to mark the presence of a Header object
_full_text = """# Service that can be used to control the robot joint positions/efforts using the
# panda_control_server.
# NOTE: This is done by publishing the joint commands to the right topics while sending
# the gripper width to the 'franka_gripper/move' action service.
string[] joint_names
float64[] joint_commands
string control_type # The control type you want to use for the robot arm. Options are `effort` and `position`.
bool grasping # If set to true, the gripper 'max_effort' will be set to 10N when not supplied. This will simplify grasping.
bool arm_wait # Wait till the arm control has completed
bool hand_wait # Wait till the hand control has completed
"""
__slots__ = ['joint_names','joint_commands','control_type','grasping','arm_wait','hand_wait']
_slot_types = ['string[]','float64[]','string','bool','bool','bool']
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:
joint_names,joint_commands,control_type,grasping,arm_wait,hand_wait
: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(SetJointCommandsRequest, self).__init__(*args, **kwds)
# message fields cannot be None, assign default values for those that are
if self.joint_names is None:
self.joint_names = []
if self.joint_commands is None:
self.joint_commands = []
if self.control_type is None:
self.control_type = ''
if self.grasping is None:
self.grasping = False
if self.arm_wait is None:
self.arm_wait = False
if self.hand_wait is None:
self.hand_wait = False
else:
self.joint_names = []
self.joint_commands = []
self.control_type = ''
self.grasping = False
self.arm_wait = False
self.hand_wait = False
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:
length = len(self.joint_names)
buff.write(_struct_I.pack(length))
for val1 in self.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.joint_commands)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(struct.Struct(pattern).pack(*self.joint_commands))
_x = self.control_type
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_3B().pack(_x.grasping, _x.arm_wait, _x.hand_wait))
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:
end = 0
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.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.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.joint_commands = s.unpack(str[start:end])
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.control_type = str[start:end].decode('utf-8', 'rosmsg')
else:
self.control_type = str[start:end]
_x = self
start = end
end += 3
(_x.grasping, _x.arm_wait, _x.hand_wait,) = _get_struct_3B().unpack(str[start:end])
self.grasping = bool(self.grasping)
self.arm_wait = bool(self.arm_wait)
self.hand_wait = bool(self.hand_wait)
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:
length = len(self.joint_names)
buff.write(_struct_I.pack(length))
for val1 in self.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.joint_commands)
buff.write(_struct_I.pack(length))
pattern = '<%sd'%length
buff.write(self.joint_commands.tostring())
_x = self.control_type
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_3B().pack(_x.grasping, _x.arm_wait, _x.hand_wait))
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:
end = 0
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
self.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.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.joint_commands = numpy.frombuffer(str[start:end], dtype=numpy.float64, count=length)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.control_type = str[start:end].decode('utf-8', 'rosmsg')
else:
self.control_type = str[start:end]
_x = self
start = end
end += 3
(_x.grasping, _x.arm_wait, _x.hand_wait,) = _get_struct_3B().unpack(str[start:end])
self.grasping = bool(self.grasping)
self.arm_wait = bool(self.arm_wait)
self.hand_wait = bool(self.hand_wait)
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_3B = None
def _get_struct_3B():
global _struct_3B
if _struct_3B is None:
_struct_3B = struct.Struct("<3B")
return _struct_3B
# This Python file uses the following encoding: utf-8
"""autogenerated by genpy from panda_gazebo/SetJointCommandsResponse.msg. Do not edit."""
import codecs
import sys
[docs]python3 = True if sys.hexversion > 0x03000000 else False
import genpy
import struct
[docs]class SetJointCommandsResponse(genpy.Message):
_md5sum = "937c9679a518e3a18d831e57125ea522"
_type = "panda_gazebo/SetJointCommandsResponse"
_has_header = False # flag to mark the presence of a Header object
_full_text = """bool success
string message
"""
__slots__ = ['success','message']
_slot_types = ['bool','string']
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:
success,message
: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(SetJointCommandsResponse, self).__init__(*args, **kwds)
# message fields cannot be None, assign default values for those that are
if self.success is None:
self.success = False
if self.message is None:
self.message = ''
else:
self.success = False
self.message = ''
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.success
buff.write(_get_struct_B().pack(_x))
_x = self.message
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))
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:
end = 0
start = end
end += 1
(self.success,) = _get_struct_B().unpack(str[start:end])
self.success = bool(self.success)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.message = str[start:end].decode('utf-8', 'rosmsg')
else:
self.message = 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.success
buff.write(_get_struct_B().pack(_x))
_x = self.message
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))
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:
end = 0
start = end
end += 1
(self.success,) = _get_struct_B().unpack(str[start:end])
self.success = bool(self.success)
start = end
end += 4
(length,) = _struct_I.unpack(str[start:end])
start = end
end += length
if python3:
self.message = str[start:end].decode('utf-8', 'rosmsg')
else:
self.message = 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_B = None
def _get_struct_B():
global _struct_B
if _struct_B is None:
_struct_B = struct.Struct("<B")
return _struct_B
[docs]class SetJointCommands(object):
_type = 'panda_gazebo/SetJointCommands'
_md5sum = 'e45f98ce30463e2aa1e33dd48f97b157'
_request_class = SetJointCommandsRequest
_response_class = SetJointCommandsResponse