00001
00002 #ifndef PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFORCESERVOACTION_H
00003 #define PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFORCESERVOACTION_H
00004 #include <string>
00005 #include <vector>
00006 #include <map>
00007 #include <ostream>
00008 #include "ros/serialization.h"
00009 #include "ros/builtin_message_traits.h"
00010 #include "ros/message_operations.h"
00011 #include "ros/time.h"
00012
00013 #include "ros/macros.h"
00014
00015 #include "ros/assert.h"
00016
00017 #include "pr2_gripper_sensor_msgs/PR2GripperForceServoActionGoal.h"
00018 #include "pr2_gripper_sensor_msgs/PR2GripperForceServoActionResult.h"
00019 #include "pr2_gripper_sensor_msgs/PR2GripperForceServoActionFeedback.h"
00020
00021 namespace pr2_gripper_sensor_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct PR2GripperForceServoAction_ {
00025 typedef PR2GripperForceServoAction_<ContainerAllocator> Type;
00026
00027 PR2GripperForceServoAction_()
00028 : action_goal()
00029 , action_result()
00030 , action_feedback()
00031 {
00032 }
00033
00034 PR2GripperForceServoAction_(const ContainerAllocator& _alloc)
00035 : action_goal(_alloc)
00036 , action_result(_alloc)
00037 , action_feedback(_alloc)
00038 {
00039 }
00040
00041 typedef ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionGoal_<ContainerAllocator> _action_goal_type;
00042 ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionGoal_<ContainerAllocator> action_goal;
00043
00044 typedef ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionResult_<ContainerAllocator> _action_result_type;
00045 ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionResult_<ContainerAllocator> action_result;
00046
00047 typedef ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionFeedback_<ContainerAllocator> _action_feedback_type;
00048 ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionFeedback_<ContainerAllocator> action_feedback;
00049
00050
00051 private:
00052 static const char* __s_getDataType_() { return "pr2_gripper_sensor_msgs/PR2GripperForceServoAction"; }
00053 public:
00054 ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
00055
00056 ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
00057
00058 private:
00059 static const char* __s_getMD5Sum_() { return "0540bb7603e65b3df5c9dc87b150e790"; }
00060 public:
00061 ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
00062
00063 ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
00064
00065 private:
00066 static const char* __s_getMessageDefinition_() { return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00067 \n\
00068 PR2GripperForceServoActionGoal action_goal\n\
00069 PR2GripperForceServoActionResult action_result\n\
00070 PR2GripperForceServoActionFeedback action_feedback\n\
00071 \n\
00072 ================================================================================\n\
00073 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoActionGoal\n\
00074 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00075 \n\
00076 Header header\n\
00077 actionlib_msgs/GoalID goal_id\n\
00078 PR2GripperForceServoGoal goal\n\
00079 \n\
00080 ================================================================================\n\
00081 MSG: std_msgs/Header\n\
00082 # Standard metadata for higher-level stamped data types.\n\
00083 # This is generally used to communicate timestamped data \n\
00084 # in a particular coordinate frame.\n\
00085 # \n\
00086 # sequence ID: consecutively increasing ID \n\
00087 uint32 seq\n\
00088 #Two-integer timestamp that is expressed as:\n\
00089 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00090 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00091 # time-handling sugar is provided by the client library\n\
00092 time stamp\n\
00093 #Frame this data is associated with\n\
00094 # 0: no frame\n\
00095 # 1: global frame\n\
00096 string frame_id\n\
00097 \n\
00098 ================================================================================\n\
00099 MSG: actionlib_msgs/GoalID\n\
00100 # The stamp should store the time at which this goal was requested.\n\
00101 # It is used by an action server when it tries to preempt all\n\
00102 # goals that were requested before a certain time\n\
00103 time stamp\n\
00104 \n\
00105 # The id provides a way to associate feedback and\n\
00106 # result message with specific goal requests. The id\n\
00107 # specified must be unique.\n\
00108 string id\n\
00109 \n\
00110 \n\
00111 ================================================================================\n\
00112 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoGoal\n\
00113 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00114 # Action to launch the gripper into force servoing mode \n\
00115 \n\
00116 #goals\n\
00117 PR2GripperForceServoCommand command\n\
00118 \n\
00119 ================================================================================\n\
00120 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoCommand\n\
00121 # the amount of fingertip force (in Newtons) to apply.\n\
00122 # NOTE: the joint will squeeze until each finger reaches this level\n\
00123 # values < 0 (opening force) are ignored\n\
00124 #\n\
00125 # 10 N can crack an egg or crush a soda can.\n\
00126 # 15 N can firmly pick up a can of soup.\n\
00127 # Experiment on your own.\n\
00128 #\n\
00129 float64 fingertip_force\n\
00130 ================================================================================\n\
00131 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoActionResult\n\
00132 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00133 \n\
00134 Header header\n\
00135 actionlib_msgs/GoalStatus status\n\
00136 PR2GripperForceServoResult result\n\
00137 \n\
00138 ================================================================================\n\
00139 MSG: actionlib_msgs/GoalStatus\n\
00140 GoalID goal_id\n\
00141 uint8 status\n\
00142 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00143 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00144 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00145 # and has since completed its execution (Terminal State)\n\
00146 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00147 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00148 # to some failure (Terminal State)\n\
00149 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00150 # because the goal was unattainable or invalid (Terminal State)\n\
00151 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00152 # and has not yet completed execution\n\
00153 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00154 # but the action server has not yet confirmed that the goal is canceled\n\
00155 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00156 # and was successfully cancelled (Terminal State)\n\
00157 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00158 # sent over the wire by an action server\n\
00159 \n\
00160 #Allow for the user to associate a string with GoalStatus for debugging\n\
00161 string text\n\
00162 \n\
00163 \n\
00164 ================================================================================\n\
00165 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoResult\n\
00166 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00167 \n\
00168 #result\n\
00169 PR2GripperForceServoData data\n\
00170 \n\
00171 \n\
00172 ================================================================================\n\
00173 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoData\n\
00174 # Time the data was recorded at\n\
00175 time stamp\n\
00176 \n\
00177 # the force experienced by the finger Pads (N)\n\
00178 # NOTE:this ignores data from the edges of the finger pressure\n\
00179 float64 left_fingertip_pad_force\n\
00180 float64 right_fingertip_pad_force\n\
00181 \n\
00182 # the current gripper virtual parallel joint effort (in N)\n\
00183 float64 joint_effort\n\
00184 \n\
00185 # true when the gripper is no longer moving\n\
00186 # and we have reached the desired force level\n\
00187 bool force_achieved\n\
00188 \n\
00189 \n\
00190 # the control state of our realtime controller\n\
00191 PR2GripperSensorRTState rtstate\n\
00192 \n\
00193 ================================================================================\n\
00194 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState\n\
00195 # the control state of our realtime controller\n\
00196 int8 realtime_controller_state\n\
00197 \n\
00198 # predefined values to indicate our realtime_controller_state\n\
00199 int8 DISABLED = 0\n\
00200 int8 POSITION_SERVO = 3\n\
00201 int8 FORCE_SERVO = 4\n\
00202 int8 FIND_CONTACT = 5\n\
00203 int8 SLIP_SERVO = 6\n\
00204 ================================================================================\n\
00205 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoActionFeedback\n\
00206 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00207 \n\
00208 Header header\n\
00209 actionlib_msgs/GoalStatus status\n\
00210 PR2GripperForceServoFeedback feedback\n\
00211 \n\
00212 ================================================================================\n\
00213 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoFeedback\n\
00214 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00215 \n\
00216 #feedback\n\
00217 PR2GripperForceServoData data\n\
00218 \n\
00219 "; }
00220 public:
00221 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00222
00223 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00224
00225 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00226 {
00227 ros::serialization::OStream stream(write_ptr, 1000000000);
00228 ros::serialization::serialize(stream, action_goal);
00229 ros::serialization::serialize(stream, action_result);
00230 ros::serialization::serialize(stream, action_feedback);
00231 return stream.getData();
00232 }
00233
00234 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00235 {
00236 ros::serialization::IStream stream(read_ptr, 1000000000);
00237 ros::serialization::deserialize(stream, action_goal);
00238 ros::serialization::deserialize(stream, action_result);
00239 ros::serialization::deserialize(stream, action_feedback);
00240 return stream.getData();
00241 }
00242
00243 ROS_DEPRECATED virtual uint32_t serializationLength() const
00244 {
00245 uint32_t size = 0;
00246 size += ros::serialization::serializationLength(action_goal);
00247 size += ros::serialization::serializationLength(action_result);
00248 size += ros::serialization::serializationLength(action_feedback);
00249 return size;
00250 }
00251
00252 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> > Ptr;
00253 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> const> ConstPtr;
00254 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00255 };
00256 typedef ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<std::allocator<void> > PR2GripperForceServoAction;
00257
00258 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction> PR2GripperForceServoActionPtr;
00259 typedef boost::shared_ptr< ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction const> PR2GripperForceServoActionConstPtr;
00260
00261
00262 template<typename ContainerAllocator>
00263 std::ostream& operator<<(std::ostream& s, const ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> & v)
00264 {
00265 ros::message_operations::Printer< ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> >::stream(s, "", v);
00266 return s;}
00267
00268 }
00269
00270 namespace ros
00271 {
00272 namespace message_traits
00273 {
00274 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> > : public TrueType {};
00275 template<class ContainerAllocator> struct IsMessage< ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> const> : public TrueType {};
00276 template<class ContainerAllocator>
00277 struct MD5Sum< ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> > {
00278 static const char* value()
00279 {
00280 return "0540bb7603e65b3df5c9dc87b150e790";
00281 }
00282
00283 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> &) { return value(); }
00284 static const uint64_t static_value1 = 0x0540bb7603e65b3dULL;
00285 static const uint64_t static_value2 = 0xf5c9dc87b150e790ULL;
00286 };
00287
00288 template<class ContainerAllocator>
00289 struct DataType< ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> > {
00290 static const char* value()
00291 {
00292 return "pr2_gripper_sensor_msgs/PR2GripperForceServoAction";
00293 }
00294
00295 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> &) { return value(); }
00296 };
00297
00298 template<class ContainerAllocator>
00299 struct Definition< ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> > {
00300 static const char* value()
00301 {
00302 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00303 \n\
00304 PR2GripperForceServoActionGoal action_goal\n\
00305 PR2GripperForceServoActionResult action_result\n\
00306 PR2GripperForceServoActionFeedback action_feedback\n\
00307 \n\
00308 ================================================================================\n\
00309 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoActionGoal\n\
00310 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00311 \n\
00312 Header header\n\
00313 actionlib_msgs/GoalID goal_id\n\
00314 PR2GripperForceServoGoal goal\n\
00315 \n\
00316 ================================================================================\n\
00317 MSG: std_msgs/Header\n\
00318 # Standard metadata for higher-level stamped data types.\n\
00319 # This is generally used to communicate timestamped data \n\
00320 # in a particular coordinate frame.\n\
00321 # \n\
00322 # sequence ID: consecutively increasing ID \n\
00323 uint32 seq\n\
00324 #Two-integer timestamp that is expressed as:\n\
00325 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00326 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00327 # time-handling sugar is provided by the client library\n\
00328 time stamp\n\
00329 #Frame this data is associated with\n\
00330 # 0: no frame\n\
00331 # 1: global frame\n\
00332 string frame_id\n\
00333 \n\
00334 ================================================================================\n\
00335 MSG: actionlib_msgs/GoalID\n\
00336 # The stamp should store the time at which this goal was requested.\n\
00337 # It is used by an action server when it tries to preempt all\n\
00338 # goals that were requested before a certain time\n\
00339 time stamp\n\
00340 \n\
00341 # The id provides a way to associate feedback and\n\
00342 # result message with specific goal requests. The id\n\
00343 # specified must be unique.\n\
00344 string id\n\
00345 \n\
00346 \n\
00347 ================================================================================\n\
00348 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoGoal\n\
00349 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00350 # Action to launch the gripper into force servoing mode \n\
00351 \n\
00352 #goals\n\
00353 PR2GripperForceServoCommand command\n\
00354 \n\
00355 ================================================================================\n\
00356 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoCommand\n\
00357 # the amount of fingertip force (in Newtons) to apply.\n\
00358 # NOTE: the joint will squeeze until each finger reaches this level\n\
00359 # values < 0 (opening force) are ignored\n\
00360 #\n\
00361 # 10 N can crack an egg or crush a soda can.\n\
00362 # 15 N can firmly pick up a can of soup.\n\
00363 # Experiment on your own.\n\
00364 #\n\
00365 float64 fingertip_force\n\
00366 ================================================================================\n\
00367 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoActionResult\n\
00368 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00369 \n\
00370 Header header\n\
00371 actionlib_msgs/GoalStatus status\n\
00372 PR2GripperForceServoResult result\n\
00373 \n\
00374 ================================================================================\n\
00375 MSG: actionlib_msgs/GoalStatus\n\
00376 GoalID goal_id\n\
00377 uint8 status\n\
00378 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00379 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00380 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00381 # and has since completed its execution (Terminal State)\n\
00382 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00383 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00384 # to some failure (Terminal State)\n\
00385 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00386 # because the goal was unattainable or invalid (Terminal State)\n\
00387 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00388 # and has not yet completed execution\n\
00389 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00390 # but the action server has not yet confirmed that the goal is canceled\n\
00391 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00392 # and was successfully cancelled (Terminal State)\n\
00393 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00394 # sent over the wire by an action server\n\
00395 \n\
00396 #Allow for the user to associate a string with GoalStatus for debugging\n\
00397 string text\n\
00398 \n\
00399 \n\
00400 ================================================================================\n\
00401 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoResult\n\
00402 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00403 \n\
00404 #result\n\
00405 PR2GripperForceServoData data\n\
00406 \n\
00407 \n\
00408 ================================================================================\n\
00409 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoData\n\
00410 # Time the data was recorded at\n\
00411 time stamp\n\
00412 \n\
00413 # the force experienced by the finger Pads (N)\n\
00414 # NOTE:this ignores data from the edges of the finger pressure\n\
00415 float64 left_fingertip_pad_force\n\
00416 float64 right_fingertip_pad_force\n\
00417 \n\
00418 # the current gripper virtual parallel joint effort (in N)\n\
00419 float64 joint_effort\n\
00420 \n\
00421 # true when the gripper is no longer moving\n\
00422 # and we have reached the desired force level\n\
00423 bool force_achieved\n\
00424 \n\
00425 \n\
00426 # the control state of our realtime controller\n\
00427 PR2GripperSensorRTState rtstate\n\
00428 \n\
00429 ================================================================================\n\
00430 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState\n\
00431 # the control state of our realtime controller\n\
00432 int8 realtime_controller_state\n\
00433 \n\
00434 # predefined values to indicate our realtime_controller_state\n\
00435 int8 DISABLED = 0\n\
00436 int8 POSITION_SERVO = 3\n\
00437 int8 FORCE_SERVO = 4\n\
00438 int8 FIND_CONTACT = 5\n\
00439 int8 SLIP_SERVO = 6\n\
00440 ================================================================================\n\
00441 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoActionFeedback\n\
00442 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00443 \n\
00444 Header header\n\
00445 actionlib_msgs/GoalStatus status\n\
00446 PR2GripperForceServoFeedback feedback\n\
00447 \n\
00448 ================================================================================\n\
00449 MSG: pr2_gripper_sensor_msgs/PR2GripperForceServoFeedback\n\
00450 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00451 \n\
00452 #feedback\n\
00453 PR2GripperForceServoData data\n\
00454 \n\
00455 ";
00456 }
00457
00458 static const char* value(const ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> &) { return value(); }
00459 };
00460
00461 }
00462 }
00463
00464 namespace ros
00465 {
00466 namespace serialization
00467 {
00468
00469 template<class ContainerAllocator> struct Serializer< ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> >
00470 {
00471 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
00472 {
00473 stream.next(m.action_goal);
00474 stream.next(m.action_result);
00475 stream.next(m.action_feedback);
00476 }
00477
00478 ROS_DECLARE_ALLINONE_SERIALIZER;
00479 };
00480 }
00481 }
00482
00483 namespace ros
00484 {
00485 namespace message_operations
00486 {
00487
00488 template<class ContainerAllocator>
00489 struct Printer< ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> >
00490 {
00491 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pr2_gripper_sensor_msgs::PR2GripperForceServoAction_<ContainerAllocator> & v)
00492 {
00493 s << indent << "action_goal: ";
00494 s << std::endl;
00495 Printer< ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionGoal_<ContainerAllocator> >::stream(s, indent + " ", v.action_goal);
00496 s << indent << "action_result: ";
00497 s << std::endl;
00498 Printer< ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionResult_<ContainerAllocator> >::stream(s, indent + " ", v.action_result);
00499 s << indent << "action_feedback: ";
00500 s << std::endl;
00501 Printer< ::pr2_gripper_sensor_msgs::PR2GripperForceServoActionFeedback_<ContainerAllocator> >::stream(s, indent + " ", v.action_feedback);
00502 }
00503 };
00504
00505
00506 }
00507 }
00508
00509 #endif // PR2_GRIPPER_SENSOR_MSGS_MESSAGE_PR2GRIPPERFORCESERVOACTION_H
00510
