00001
00002 #ifndef PR2_OBJECT_MANIPULATION_MSGS_MESSAGE_IMGUIACTION_H
00003 #define PR2_OBJECT_MANIPULATION_MSGS_MESSAGE_IMGUIACTION_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_object_manipulation_msgs/IMGUIActionGoal.h"
00018 #include "pr2_object_manipulation_msgs/IMGUIActionResult.h"
00019 #include "pr2_object_manipulation_msgs/IMGUIActionFeedback.h"
00020
00021 namespace pr2_object_manipulation_msgs
00022 {
00023 template <class ContainerAllocator>
00024 struct IMGUIAction_ {
00025 typedef IMGUIAction_<ContainerAllocator> Type;
00026
00027 IMGUIAction_()
00028 : action_goal()
00029 , action_result()
00030 , action_feedback()
00031 {
00032 }
00033
00034 IMGUIAction_(const ContainerAllocator& _alloc)
00035 : action_goal(_alloc)
00036 , action_result(_alloc)
00037 , action_feedback(_alloc)
00038 {
00039 }
00040
00041 typedef ::pr2_object_manipulation_msgs::IMGUIActionGoal_<ContainerAllocator> _action_goal_type;
00042 ::pr2_object_manipulation_msgs::IMGUIActionGoal_<ContainerAllocator> action_goal;
00043
00044 typedef ::pr2_object_manipulation_msgs::IMGUIActionResult_<ContainerAllocator> _action_result_type;
00045 ::pr2_object_manipulation_msgs::IMGUIActionResult_<ContainerAllocator> action_result;
00046
00047 typedef ::pr2_object_manipulation_msgs::IMGUIActionFeedback_<ContainerAllocator> _action_feedback_type;
00048 ::pr2_object_manipulation_msgs::IMGUIActionFeedback_<ContainerAllocator> action_feedback;
00049
00050
00051 private:
00052 static const char* __s_getDataType_() { return "pr2_object_manipulation_msgs/IMGUIAction"; }
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 "1e88259bdc01f3951eb468efa179f591"; }
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 IMGUIActionGoal action_goal\n\
00069 IMGUIActionResult action_result\n\
00070 IMGUIActionFeedback action_feedback\n\
00071 \n\
00072 ================================================================================\n\
00073 MSG: pr2_object_manipulation_msgs/IMGUIActionGoal\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 IMGUIGoal 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_object_manipulation_msgs/IMGUIGoal\n\
00113 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00114 \n\
00115 IMGUIOptions options\n\
00116 IMGUICommand command\n\
00117 \n\
00118 \n\
00119 ================================================================================\n\
00120 MSG: pr2_object_manipulation_msgs/IMGUIOptions\n\
00121 \n\
00122 # collision checking enabled\n\
00123 bool collision_checked\n\
00124 \n\
00125 # 0=call gripper click\n\
00126 # 1=grasp the provided graspable object\n\
00127 int32 grasp_selection\n\
00128 \n\
00129 # 0=right, 1=left arm\n\
00130 int32 arm_selection\n\
00131 \n\
00132 # for RESET commands\n\
00133 # 0=reset collision objects\n\
00134 # 1=reset attached objects\n\
00135 int32 reset_choice\n\
00136 \n\
00137 # for MOVE_ARM commands\n\
00138 # 0=side\n\
00139 # 1=front\n\
00140 # 2=side handoff\n\
00141 int32 arm_action_choice\n\
00142 \n\
00143 # for MOVE_ARM commands\n\
00144 # 0=open-loop\n\
00145 # 1=with planner\n\
00146 int32 arm_planner_choice\n\
00147 \n\
00148 # for MOVE_GRIPPER commands\n\
00149 # opening of gripper (0=closed..100=open)\n\
00150 int32 gripper_slider_position\n\
00151 \n\
00152 # used if grasp_selection == 1\n\
00153 object_manipulation_msgs/GraspableObject selected_object\n\
00154 \n\
00155 # indicates obstacles that can be moved during grasping\n\
00156 # presumably, the operator has marked these in some fashion\n\
00157 object_manipulation_msgs/GraspableObject[] movable_obstacles\n\
00158 \n\
00159 # more options..\n\
00160 IMGUIAdvancedOptions adv_options\n\
00161 \n\
00162 ================================================================================\n\
00163 MSG: object_manipulation_msgs/GraspableObject\n\
00164 # an object that the object_manipulator can work on\n\
00165 \n\
00166 # a graspable object can be represented in multiple ways. This message\n\
00167 # can contain all of them. Which one is actually used is up to the receiver\n\
00168 # of this message. When adding new representations, one must be careful that\n\
00169 # they have reasonable lightweight defaults indicating that that particular\n\
00170 # representation is not available.\n\
00171 \n\
00172 # the tf frame to be used as a reference frame when combining information from\n\
00173 # the different representations below\n\
00174 string reference_frame_id\n\
00175 \n\
00176 # potential recognition results from a database of models\n\
00177 # all poses are relative to the object reference pose\n\
00178 household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
00179 \n\
00180 # the point cloud itself\n\
00181 sensor_msgs/PointCloud cluster\n\
00182 \n\
00183 # a region of a PointCloud2 of interest\n\
00184 object_manipulation_msgs/SceneRegion region\n\
00185 \n\
00186 # the name that this object has in the collision environment\n\
00187 string collision_name\n\
00188 ================================================================================\n\
00189 MSG: household_objects_database_msgs/DatabaseModelPose\n\
00190 # Informs that a specific model from the Model Database has been \n\
00191 # identified at a certain location\n\
00192 \n\
00193 # the database id of the model\n\
00194 int32 model_id\n\
00195 \n\
00196 # the pose that it can be found in\n\
00197 geometry_msgs/PoseStamped pose\n\
00198 \n\
00199 # a measure of the confidence level in this detection result\n\
00200 float32 confidence\n\
00201 \n\
00202 # the name of the object detector that generated this detection result\n\
00203 string detector_name\n\
00204 \n\
00205 ================================================================================\n\
00206 MSG: geometry_msgs/PoseStamped\n\
00207 # A Pose with reference coordinate frame and timestamp\n\
00208 Header header\n\
00209 Pose pose\n\
00210 \n\
00211 ================================================================================\n\
00212 MSG: geometry_msgs/Pose\n\
00213 # A representation of pose in free space, composed of postion and orientation. \n\
00214 Point position\n\
00215 Quaternion orientation\n\
00216 \n\
00217 ================================================================================\n\
00218 MSG: geometry_msgs/Point\n\
00219 # This contains the position of a point in free space\n\
00220 float64 x\n\
00221 float64 y\n\
00222 float64 z\n\
00223 \n\
00224 ================================================================================\n\
00225 MSG: geometry_msgs/Quaternion\n\
00226 # This represents an orientation in free space in quaternion form.\n\
00227 \n\
00228 float64 x\n\
00229 float64 y\n\
00230 float64 z\n\
00231 float64 w\n\
00232 \n\
00233 ================================================================================\n\
00234 MSG: sensor_msgs/PointCloud\n\
00235 # This message holds a collection of 3d points, plus optional additional\n\
00236 # information about each point.\n\
00237 \n\
00238 # Time of sensor data acquisition, coordinate frame ID.\n\
00239 Header header\n\
00240 \n\
00241 # Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
00242 # in the frame given in the header.\n\
00243 geometry_msgs/Point32[] points\n\
00244 \n\
00245 # Each channel should have the same number of elements as points array,\n\
00246 # and the data in each channel should correspond 1:1 with each point.\n\
00247 # Channel names in common practice are listed in ChannelFloat32.msg.\n\
00248 ChannelFloat32[] channels\n\
00249 \n\
00250 ================================================================================\n\
00251 MSG: geometry_msgs/Point32\n\
00252 # This contains the position of a point in free space(with 32 bits of precision).\n\
00253 # It is recommeded to use Point wherever possible instead of Point32. \n\
00254 # \n\
00255 # This recommendation is to promote interoperability. \n\
00256 #\n\
00257 # This message is designed to take up less space when sending\n\
00258 # lots of points at once, as in the case of a PointCloud. \n\
00259 \n\
00260 float32 x\n\
00261 float32 y\n\
00262 float32 z\n\
00263 ================================================================================\n\
00264 MSG: sensor_msgs/ChannelFloat32\n\
00265 # This message is used by the PointCloud message to hold optional data\n\
00266 # associated with each point in the cloud. The length of the values\n\
00267 # array should be the same as the length of the points array in the\n\
00268 # PointCloud, and each value should be associated with the corresponding\n\
00269 # point.\n\
00270 \n\
00271 # Channel names in existing practice include:\n\
00272 # \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
00273 # This is opposite to usual conventions but remains for\n\
00274 # historical reasons. The newer PointCloud2 message has no\n\
00275 # such problem.\n\
00276 # \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
00277 # (R,G,B) values packed into the least significant 24 bits,\n\
00278 # in order.\n\
00279 # \"intensity\" - laser or pixel intensity.\n\
00280 # \"distance\"\n\
00281 \n\
00282 # The channel name should give semantics of the channel (e.g.\n\
00283 # \"intensity\" instead of \"value\").\n\
00284 string name\n\
00285 \n\
00286 # The values array should be 1-1 with the elements of the associated\n\
00287 # PointCloud.\n\
00288 float32[] values\n\
00289 \n\
00290 ================================================================================\n\
00291 MSG: object_manipulation_msgs/SceneRegion\n\
00292 # Point cloud\n\
00293 sensor_msgs/PointCloud2 cloud\n\
00294 \n\
00295 # Indices for the region of interest\n\
00296 int32[] mask\n\
00297 \n\
00298 # One of the corresponding 2D images, if applicable\n\
00299 sensor_msgs/Image image\n\
00300 \n\
00301 # The disparity image, if applicable\n\
00302 sensor_msgs/Image disparity_image\n\
00303 \n\
00304 # Camera info for the camera that took the image\n\
00305 sensor_msgs/CameraInfo cam_info\n\
00306 \n\
00307 # a 3D region of interest for grasp planning\n\
00308 geometry_msgs/PoseStamped roi_box_pose\n\
00309 geometry_msgs/Vector3 roi_box_dims\n\
00310 \n\
00311 ================================================================================\n\
00312 MSG: sensor_msgs/PointCloud2\n\
00313 # This message holds a collection of N-dimensional points, which may\n\
00314 # contain additional information such as normals, intensity, etc. The\n\
00315 # point data is stored as a binary blob, its layout described by the\n\
00316 # contents of the \"fields\" array.\n\
00317 \n\
00318 # The point cloud data may be organized 2d (image-like) or 1d\n\
00319 # (unordered). Point clouds organized as 2d images may be produced by\n\
00320 # camera depth sensors such as stereo or time-of-flight.\n\
00321 \n\
00322 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
00323 # points).\n\
00324 Header header\n\
00325 \n\
00326 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
00327 # 1 and width is the length of the point cloud.\n\
00328 uint32 height\n\
00329 uint32 width\n\
00330 \n\
00331 # Describes the channels and their layout in the binary data blob.\n\
00332 PointField[] fields\n\
00333 \n\
00334 bool is_bigendian # Is this data bigendian?\n\
00335 uint32 point_step # Length of a point in bytes\n\
00336 uint32 row_step # Length of a row in bytes\n\
00337 uint8[] data # Actual point data, size is (row_step*height)\n\
00338 \n\
00339 bool is_dense # True if there are no invalid points\n\
00340 \n\
00341 ================================================================================\n\
00342 MSG: sensor_msgs/PointField\n\
00343 # This message holds the description of one point entry in the\n\
00344 # PointCloud2 message format.\n\
00345 uint8 INT8 = 1\n\
00346 uint8 UINT8 = 2\n\
00347 uint8 INT16 = 3\n\
00348 uint8 UINT16 = 4\n\
00349 uint8 INT32 = 5\n\
00350 uint8 UINT32 = 6\n\
00351 uint8 FLOAT32 = 7\n\
00352 uint8 FLOAT64 = 8\n\
00353 \n\
00354 string name # Name of field\n\
00355 uint32 offset # Offset from start of point struct\n\
00356 uint8 datatype # Datatype enumeration, see above\n\
00357 uint32 count # How many elements in the field\n\
00358 \n\
00359 ================================================================================\n\
00360 MSG: sensor_msgs/Image\n\
00361 # This message contains an uncompressed image\n\
00362 # (0, 0) is at top-left corner of image\n\
00363 #\n\
00364 \n\
00365 Header header # Header timestamp should be acquisition time of image\n\
00366 # Header frame_id should be optical frame of camera\n\
00367 # origin of frame should be optical center of cameara\n\
00368 # +x should point to the right in the image\n\
00369 # +y should point down in the image\n\
00370 # +z should point into to plane of the image\n\
00371 # If the frame_id here and the frame_id of the CameraInfo\n\
00372 # message associated with the image conflict\n\
00373 # the behavior is undefined\n\
00374 \n\
00375 uint32 height # image height, that is, number of rows\n\
00376 uint32 width # image width, that is, number of columns\n\
00377 \n\
00378 # The legal values for encoding are in file src/image_encodings.cpp\n\
00379 # If you want to standardize a new string format, join\n\
00380 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
00381 \n\
00382 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
00383 # taken from the list of strings in src/image_encodings.cpp\n\
00384 \n\
00385 uint8 is_bigendian # is this data bigendian?\n\
00386 uint32 step # Full row length in bytes\n\
00387 uint8[] data # actual matrix data, size is (step * rows)\n\
00388 \n\
00389 ================================================================================\n\
00390 MSG: sensor_msgs/CameraInfo\n\
00391 # This message defines meta information for a camera. It should be in a\n\
00392 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
00393 # image topics named:\n\
00394 #\n\
00395 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
00396 # image - monochrome, distorted\n\
00397 # image_color - color, distorted\n\
00398 # image_rect - monochrome, rectified\n\
00399 # image_rect_color - color, rectified\n\
00400 #\n\
00401 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
00402 # for producing the four processed image topics from image_raw and\n\
00403 # camera_info. The meaning of the camera parameters are described in\n\
00404 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
00405 #\n\
00406 # The image_geometry package provides a user-friendly interface to\n\
00407 # common operations using this meta information. If you want to, e.g.,\n\
00408 # project a 3d point into image coordinates, we strongly recommend\n\
00409 # using image_geometry.\n\
00410 #\n\
00411 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
00412 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
00413 # indicates an uncalibrated camera.\n\
00414 \n\
00415 #######################################################################\n\
00416 # Image acquisition info #\n\
00417 #######################################################################\n\
00418 \n\
00419 # Time of image acquisition, camera coordinate frame ID\n\
00420 Header header # Header timestamp should be acquisition time of image\n\
00421 # Header frame_id should be optical frame of camera\n\
00422 # origin of frame should be optical center of camera\n\
00423 # +x should point to the right in the image\n\
00424 # +y should point down in the image\n\
00425 # +z should point into the plane of the image\n\
00426 \n\
00427 \n\
00428 #######################################################################\n\
00429 # Calibration Parameters #\n\
00430 #######################################################################\n\
00431 # These are fixed during camera calibration. Their values will be the #\n\
00432 # same in all messages until the camera is recalibrated. Note that #\n\
00433 # self-calibrating systems may \"recalibrate\" frequently. #\n\
00434 # #\n\
00435 # The internal parameters can be used to warp a raw (distorted) image #\n\
00436 # to: #\n\
00437 # 1. An undistorted image (requires D and K) #\n\
00438 # 2. A rectified image (requires D, K, R) #\n\
00439 # The projection matrix P projects 3D points into the rectified image.#\n\
00440 #######################################################################\n\
00441 \n\
00442 # The image dimensions with which the camera was calibrated. Normally\n\
00443 # this will be the full camera resolution in pixels.\n\
00444 uint32 height\n\
00445 uint32 width\n\
00446 \n\
00447 # The distortion model used. Supported models are listed in\n\
00448 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
00449 # simple model of radial and tangential distortion - is sufficent.\n\
00450 string distortion_model\n\
00451 \n\
00452 # The distortion parameters, size depending on the distortion model.\n\
00453 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
00454 float64[] D\n\
00455 \n\
00456 # Intrinsic camera matrix for the raw (distorted) images.\n\
00457 # [fx 0 cx]\n\
00458 # K = [ 0 fy cy]\n\
00459 # [ 0 0 1]\n\
00460 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
00461 # coordinates using the focal lengths (fx, fy) and principal point\n\
00462 # (cx, cy).\n\
00463 float64[9] K # 3x3 row-major matrix\n\
00464 \n\
00465 # Rectification matrix (stereo cameras only)\n\
00466 # A rotation matrix aligning the camera coordinate system to the ideal\n\
00467 # stereo image plane so that epipolar lines in both stereo images are\n\
00468 # parallel.\n\
00469 float64[9] R # 3x3 row-major matrix\n\
00470 \n\
00471 # Projection/camera matrix\n\
00472 # [fx' 0 cx' Tx]\n\
00473 # P = [ 0 fy' cy' Ty]\n\
00474 # [ 0 0 1 0]\n\
00475 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
00476 # of the processed (rectified) image. That is, the left 3x3 portion\n\
00477 # is the normal camera intrinsic matrix for the rectified image.\n\
00478 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
00479 # coordinates using the focal lengths (fx', fy') and principal point\n\
00480 # (cx', cy') - these may differ from the values in K.\n\
00481 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
00482 # also have R = the identity and P[1:3,1:3] = K.\n\
00483 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
00484 # position of the optical center of the second camera in the first\n\
00485 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
00486 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
00487 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
00488 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
00489 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
00490 # the rectified image is given by:\n\
00491 # [u v w]' = P * [X Y Z 1]'\n\
00492 # x = u / w\n\
00493 # y = v / w\n\
00494 # This holds for both images of a stereo pair.\n\
00495 float64[12] P # 3x4 row-major matrix\n\
00496 \n\
00497 \n\
00498 #######################################################################\n\
00499 # Operational Parameters #\n\
00500 #######################################################################\n\
00501 # These define the image region actually captured by the camera #\n\
00502 # driver. Although they affect the geometry of the output image, they #\n\
00503 # may be changed freely without recalibrating the camera. #\n\
00504 #######################################################################\n\
00505 \n\
00506 # Binning refers here to any camera setting which combines rectangular\n\
00507 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
00508 # resolution of the output image to\n\
00509 # (width / binning_x) x (height / binning_y).\n\
00510 # The default values binning_x = binning_y = 0 is considered the same\n\
00511 # as binning_x = binning_y = 1 (no subsampling).\n\
00512 uint32 binning_x\n\
00513 uint32 binning_y\n\
00514 \n\
00515 # Region of interest (subwindow of full camera resolution), given in\n\
00516 # full resolution (unbinned) image coordinates. A particular ROI\n\
00517 # always denotes the same window of pixels on the camera sensor,\n\
00518 # regardless of binning settings.\n\
00519 # The default setting of roi (all values 0) is considered the same as\n\
00520 # full resolution (roi.width = width, roi.height = height).\n\
00521 RegionOfInterest roi\n\
00522 \n\
00523 ================================================================================\n\
00524 MSG: sensor_msgs/RegionOfInterest\n\
00525 # This message is used to specify a region of interest within an image.\n\
00526 #\n\
00527 # When used to specify the ROI setting of the camera when the image was\n\
00528 # taken, the height and width fields should either match the height and\n\
00529 # width fields for the associated image; or height = width = 0\n\
00530 # indicates that the full resolution image was captured.\n\
00531 \n\
00532 uint32 x_offset # Leftmost pixel of the ROI\n\
00533 # (0 if the ROI includes the left edge of the image)\n\
00534 uint32 y_offset # Topmost pixel of the ROI\n\
00535 # (0 if the ROI includes the top edge of the image)\n\
00536 uint32 height # Height of ROI\n\
00537 uint32 width # Width of ROI\n\
00538 \n\
00539 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
00540 # ROI in this message. Typically this should be False if the full image\n\
00541 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
00542 # used).\n\
00543 bool do_rectify\n\
00544 \n\
00545 ================================================================================\n\
00546 MSG: geometry_msgs/Vector3\n\
00547 # This represents a vector in free space. \n\
00548 \n\
00549 float64 x\n\
00550 float64 y\n\
00551 float64 z\n\
00552 ================================================================================\n\
00553 MSG: pr2_object_manipulation_msgs/IMGUIAdvancedOptions\n\
00554 \n\
00555 bool reactive_grasping\n\
00556 bool reactive_force \n\
00557 bool reactive_place\n\
00558 int32 lift_steps\n\
00559 int32 retreat_steps\n\
00560 int32 lift_direction_choice\n\
00561 int32 desired_approach\n\
00562 int32 min_approach\n\
00563 float32 max_contact_force\n\
00564 \n\
00565 ================================================================================\n\
00566 MSG: pr2_object_manipulation_msgs/IMGUICommand\n\
00567 \n\
00568 int32 PICKUP = 0\n\
00569 int32 PLACE = 1\n\
00570 int32 PLANNED_MOVE = 2\n\
00571 int32 RESET = 3\n\
00572 int32 MOVE_ARM = 4\n\
00573 int32 LOOK_AT_TABLE = 5\n\
00574 int32 MODEL_OBJECT = 6\n\
00575 int32 MOVE_GRIPPER = 7\n\
00576 int32 SCRIPTED_ACTION = 8\n\
00577 int32 STOP_NAV = 9\n\
00578 \n\
00579 int32 command\n\
00580 string script_name\n\
00581 string script_group_name\n\
00582 \n\
00583 ================================================================================\n\
00584 MSG: pr2_object_manipulation_msgs/IMGUIActionResult\n\
00585 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00586 \n\
00587 Header header\n\
00588 actionlib_msgs/GoalStatus status\n\
00589 IMGUIResult result\n\
00590 \n\
00591 ================================================================================\n\
00592 MSG: actionlib_msgs/GoalStatus\n\
00593 GoalID goal_id\n\
00594 uint8 status\n\
00595 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
00596 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
00597 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
00598 # and has since completed its execution (Terminal State)\n\
00599 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
00600 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
00601 # to some failure (Terminal State)\n\
00602 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
00603 # because the goal was unattainable or invalid (Terminal State)\n\
00604 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
00605 # and has not yet completed execution\n\
00606 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
00607 # but the action server has not yet confirmed that the goal is canceled\n\
00608 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
00609 # and was successfully cancelled (Terminal State)\n\
00610 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
00611 # sent over the wire by an action server\n\
00612 \n\
00613 #Allow for the user to associate a string with GoalStatus for debugging\n\
00614 string text\n\
00615 \n\
00616 \n\
00617 ================================================================================\n\
00618 MSG: pr2_object_manipulation_msgs/IMGUIResult\n\
00619 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00620 \n\
00621 #empty result\n\
00622 object_manipulation_msgs/ManipulationResult result\n\
00623 \n\
00624 \n\
00625 ================================================================================\n\
00626 MSG: object_manipulation_msgs/ManipulationResult\n\
00627 # Result codes for manipulation tasks\n\
00628 \n\
00629 # task completed as expected\n\
00630 # generally means you can proceed as planned\n\
00631 int32 SUCCESS = 1\n\
00632 \n\
00633 # task not possible (e.g. out of reach or obstacles in the way)\n\
00634 # generally means that the world was not disturbed, so you can try another task\n\
00635 int32 UNFEASIBLE = -1\n\
00636 \n\
00637 # task was thought possible, but failed due to unexpected events during execution\n\
00638 # it is likely that the world was disturbed, so you are encouraged to refresh\n\
00639 # your sensed world model before proceeding to another task\n\
00640 int32 FAILED = -2\n\
00641 \n\
00642 # a lower level error prevented task completion (e.g. joint controller not responding)\n\
00643 # generally requires human attention\n\
00644 int32 ERROR = -3\n\
00645 \n\
00646 # means that at some point during execution we ended up in a state that the collision-aware\n\
00647 # arm navigation module will not move out of. The world was likely not disturbed, but you \n\
00648 # probably need a new collision map to move the arm out of the stuck position\n\
00649 int32 ARM_MOVEMENT_PREVENTED = -4\n\
00650 \n\
00651 # specific to grasp actions\n\
00652 # the object was grasped successfully, but the lift attempt could not achieve the minimum lift distance requested\n\
00653 # it is likely that the collision environment will see collisions between the hand/object and the support surface\n\
00654 int32 LIFT_FAILED = -5\n\
00655 \n\
00656 # specific to place actions\n\
00657 # the object was placed successfully, but the retreat attempt could not achieve the minimum retreat distance requested\n\
00658 # it is likely that the collision environment will see collisions between the hand and the object\n\
00659 int32 RETREAT_FAILED = -6\n\
00660 \n\
00661 # indicates that somewhere along the line a human said \"wait, stop, this is bad, go back and do something else\"\n\
00662 int32 CANCELLED = -7\n\
00663 \n\
00664 # the actual value of this error code\n\
00665 int32 value\n\
00666 \n\
00667 ================================================================================\n\
00668 MSG: pr2_object_manipulation_msgs/IMGUIActionFeedback\n\
00669 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00670 \n\
00671 Header header\n\
00672 actionlib_msgs/GoalStatus status\n\
00673 IMGUIFeedback feedback\n\
00674 \n\
00675 ================================================================================\n\
00676 MSG: pr2_object_manipulation_msgs/IMGUIFeedback\n\
00677 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00678 \n\
00679 string status\n\
00680 \n\
00681 \n\
00682 "; }
00683 public:
00684 ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
00685
00686 ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
00687
00688 ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
00689 {
00690 ros::serialization::OStream stream(write_ptr, 1000000000);
00691 ros::serialization::serialize(stream, action_goal);
00692 ros::serialization::serialize(stream, action_result);
00693 ros::serialization::serialize(stream, action_feedback);
00694 return stream.getData();
00695 }
00696
00697 ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
00698 {
00699 ros::serialization::IStream stream(read_ptr, 1000000000);
00700 ros::serialization::deserialize(stream, action_goal);
00701 ros::serialization::deserialize(stream, action_result);
00702 ros::serialization::deserialize(stream, action_feedback);
00703 return stream.getData();
00704 }
00705
00706 ROS_DEPRECATED virtual uint32_t serializationLength() const
00707 {
00708 uint32_t size = 0;
00709 size += ros::serialization::serializationLength(action_goal);
00710 size += ros::serialization::serializationLength(action_result);
00711 size += ros::serialization::serializationLength(action_feedback);
00712 return size;
00713 }
00714
00715 typedef boost::shared_ptr< ::pr2_object_manipulation_msgs::IMGUIAction_<ContainerAllocator> > Ptr;
00716 typedef boost::shared_ptr< ::pr2_object_manipulation_msgs::IMGUIAction_<ContainerAllocator> const> ConstPtr;
00717 boost::shared_ptr<std::map<std::string, std::string> > __connection_header;
00718 };
00719 typedef ::pr2_object_manipulation_msgs::IMGUIAction_<std::allocator<void> > IMGUIAction;
00720
00721 typedef boost::shared_ptr< ::pr2_object_manipulation_msgs::IMGUIAction> IMGUIActionPtr;
00722 typedef boost::shared_ptr< ::pr2_object_manipulation_msgs::IMGUIAction const> IMGUIActionConstPtr;
00723
00724
00725 template<typename ContainerAllocator>
00726 std::ostream& operator<<(std::ostream& s, const ::pr2_object_manipulation_msgs::IMGUIAction_<ContainerAllocator> & v)
00727 {
00728 ros::message_operations::Printer< ::pr2_object_manipulation_msgs::IMGUIAction_<ContainerAllocator> >::stream(s, "", v);
00729 return s;}
00730
00731 }
00732
00733 namespace ros
00734 {
00735 namespace message_traits
00736 {
00737 template<class ContainerAllocator> struct IsMessage< ::pr2_object_manipulation_msgs::IMGUIAction_<ContainerAllocator> > : public TrueType {};
00738 template<class ContainerAllocator> struct IsMessage< ::pr2_object_manipulation_msgs::IMGUIAction_<ContainerAllocator> const> : public TrueType {};
00739 template<class ContainerAllocator>
00740 struct MD5Sum< ::pr2_object_manipulation_msgs::IMGUIAction_<ContainerAllocator> > {
00741 static const char* value()
00742 {
00743 return "1e88259bdc01f3951eb468efa179f591";
00744 }
00745
00746 static const char* value(const ::pr2_object_manipulation_msgs::IMGUIAction_<ContainerAllocator> &) { return value(); }
00747 static const uint64_t static_value1 = 0x1e88259bdc01f395ULL;
00748 static const uint64_t static_value2 = 0x1eb468efa179f591ULL;
00749 };
00750
00751 template<class ContainerAllocator>
00752 struct DataType< ::pr2_object_manipulation_msgs::IMGUIAction_<ContainerAllocator> > {
00753 static const char* value()
00754 {
00755 return "pr2_object_manipulation_msgs/IMGUIAction";
00756 }
00757
00758 static const char* value(const ::pr2_object_manipulation_msgs::IMGUIAction_<ContainerAllocator> &) { return value(); }
00759 };
00760
00761 template<class ContainerAllocator>
00762 struct Definition< ::pr2_object_manipulation_msgs::IMGUIAction_<ContainerAllocator> > {
00763 static const char* value()
00764 {
00765 return "# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00766 \n\
00767 IMGUIActionGoal action_goal\n\
00768 IMGUIActionResult action_result\n\
00769 IMGUIActionFeedback action_feedback\n\
00770 \n\
00771 ================================================================================\n\
00772 MSG: pr2_object_manipulation_msgs/IMGUIActionGoal\n\
00773 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00774 \n\
00775 Header header\n\
00776 actionlib_msgs/GoalID goal_id\n\
00777 IMGUIGoal goal\n\
00778 \n\
00779 ================================================================================\n\
00780 MSG: std_msgs/Header\n\
00781 # Standard metadata for higher-level stamped data types.\n\
00782 # This is generally used to communicate timestamped data \n\
00783 # in a particular coordinate frame.\n\
00784 # \n\
00785 # sequence ID: consecutively increasing ID \n\
00786 uint32 seq\n\
00787 #Two-integer timestamp that is expressed as:\n\
00788 # * stamp.secs: seconds (stamp_secs) since epoch\n\
00789 # * stamp.nsecs: nanoseconds since stamp_secs\n\
00790 # time-handling sugar is provided by the client library\n\
00791 time stamp\n\
00792 #Frame this data is associated with\n\
00793 # 0: no frame\n\
00794 # 1: global frame\n\
00795 string frame_id\n\
00796 \n\
00797 ================================================================================\n\
00798 MSG: actionlib_msgs/GoalID\n\
00799 # The stamp should store the time at which this goal was requested.\n\
00800 # It is used by an action server when it tries to preempt all\n\
00801 # goals that were requested before a certain time\n\
00802 time stamp\n\
00803 \n\
00804 # The id provides a way to associate feedback and\n\
00805 # result message with specific goal requests. The id\n\
00806 # specified must be unique.\n\
00807 string id\n\
00808 \n\
00809 \n\
00810 ================================================================================\n\
00811 MSG: pr2_object_manipulation_msgs/IMGUIGoal\n\
00812 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
00813 \n\
00814 IMGUIOptions options\n\
00815 IMGUICommand command\n\
00816 \n\
00817 \n\
00818 ================================================================================\n\
00819 MSG: pr2_object_manipulation_msgs/IMGUIOptions\n\
00820 \n\
00821 # collision checking enabled\n\
00822 bool collision_checked\n\
00823 \n\
00824 # 0=call gripper click\n\
00825 # 1=grasp the provided graspable object\n\
00826 int32 grasp_selection\n\
00827 \n\
00828 # 0=right, 1=left arm\n\
00829 int32 arm_selection\n\
00830 \n\
00831 # for RESET commands\n\
00832 # 0=reset collision objects\n\
00833 # 1=reset attached objects\n\
00834 int32 reset_choice\n\
00835 \n\
00836 # for MOVE_ARM commands\n\
00837 # 0=side\n\
00838 # 1=front\n\
00839 # 2=side handoff\n\
00840 int32 arm_action_choice\n\
00841 \n\
00842 # for MOVE_ARM commands\n\
00843 # 0=open-loop\n\
00844 # 1=with planner\n\
00845 int32 arm_planner_choice\n\
00846 \n\
00847 # for MOVE_GRIPPER commands\n\
00848 # opening of gripper (0=closed..100=open)\n\
00849 int32 gripper_slider_position\n\
00850 \n\
00851 # used if grasp_selection == 1\n\
00852 object_manipulation_msgs/GraspableObject selected_object\n\
00853 \n\
00854 # indicates obstacles that can be moved during grasping\n\
00855 # presumably, the operator has marked these in some fashion\n\
00856 object_manipulation_msgs/GraspableObject[] movable_obstacles\n\
00857 \n\
00858 # more options..\n\
00859 IMGUIAdvancedOptions adv_options\n\
00860 \n\
00861 ================================================================================\n\
00862 MSG: object_manipulation_msgs/GraspableObject\n\
00863 # an object that the object_manipulator can work on\n\
00864 \n\
00865 # a graspable object can be represented in multiple ways. This message\n\
00866 # can contain all of them. Which one is actually used is up to the receiver\n\
00867 # of this message. When adding new representations, one must be careful that\n\
00868 # they have reasonable lightweight defaults indicating that that particular\n\
00869 # representation is not available.\n\
00870 \n\
00871 # the tf frame to be used as a reference frame when combining information from\n\
00872 # the different representations below\n\
00873 string reference_frame_id\n\
00874 \n\
00875 # potential recognition results from a database of models\n\
00876 # all poses are relative to the object reference pose\n\
00877 household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
00878 \n\
00879 # the point cloud itself\n\
00880 sensor_msgs/PointCloud cluster\n\
00881 \n\
00882 # a region of a PointCloud2 of interest\n\
00883 object_manipulation_msgs/SceneRegion region\n\
00884 \n\
00885 # the name that this object has in the collision environment\n\
00886 string collision_name\n\
00887 ================================================================================\n\
00888 MSG: household_objects_database_msgs/DatabaseModelPose\n\
00889 # Informs that a specific model from the Model Database has been \n\
00890 # identified at a certain location\n\
00891 \n\
00892 # the database id of the model\n\
00893 int32 model_id\n\
00894 \n\
00895 # the pose that it can be found in\n\
00896 geometry_msgs/PoseStamped pose\n\
00897 \n\
00898 # a measure of the confidence level in this detection result\n\
00899 float32 confidence\n\
00900 \n\
00901 # the name of the object detector that generated this detection result\n\
00902 string detector_name\n\
00903 \n\
00904 ================================================================================\n\
00905 MSG: geometry_msgs/PoseStamped\n\
00906 # A Pose with reference coordinate frame and timestamp\n\
00907 Header header\n\
00908 Pose pose\n\
00909 \n\
00910 ================================================================================\n\
00911 MSG: geometry_msgs/Pose\n\
00912 # A representation of pose in free space, composed of postion and orientation. \n\
00913 Point position\n\
00914 Quaternion orientation\n\
00915 \n\
00916 ================================================================================\n\
00917 MSG: geometry_msgs/Point\n\
00918 # This contains the position of a point in free space\n\
00919 float64 x\n\
00920 float64 y\n\
00921 float64 z\n\
00922 \n\
00923 ================================================================================\n\
00924 MSG: geometry_msgs/Quaternion\n\
00925 # This represents an orientation in free space in quaternion form.\n\
00926 \n\
00927 float64 x\n\
00928 float64 y\n\
00929 float64 z\n\
00930 float64 w\n\
00931 \n\
00932 ================================================================================\n\
00933 MSG: sensor_msgs/PointCloud\n\
00934 # This message holds a collection of 3d points, plus optional additional\n\
00935 # information about each point.\n\
00936 \n\
00937 # Time of sensor data acquisition, coordinate frame ID.\n\
00938 Header header\n\
00939 \n\
00940 # Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
00941 # in the frame given in the header.\n\
00942 geometry_msgs/Point32[] points\n\
00943 \n\
00944 # Each channel should have the same number of elements as points array,\n\
00945 # and the data in each channel should correspond 1:1 with each point.\n\
00946 # Channel names in common practice are listed in ChannelFloat32.msg.\n\
00947 ChannelFloat32[] channels\n\
00948 \n\
00949 ================================================================================\n\
00950 MSG: geometry_msgs/Point32\n\
00951 # This contains the position of a point in free space(with 32 bits of precision).\n\
00952 # It is recommeded to use Point wherever possible instead of Point32. \n\
00953 # \n\
00954 # This recommendation is to promote interoperability. \n\
00955 #\n\
00956 # This message is designed to take up less space when sending\n\
00957 # lots of points at once, as in the case of a PointCloud. \n\
00958 \n\
00959 float32 x\n\
00960 float32 y\n\
00961 float32 z\n\
00962 ================================================================================\n\
00963 MSG: sensor_msgs/ChannelFloat32\n\
00964 # This message is used by the PointCloud message to hold optional data\n\
00965 # associated with each point in the cloud. The length of the values\n\
00966 # array should be the same as the length of the points array in the\n\
00967 # PointCloud, and each value should be associated with the corresponding\n\
00968 # point.\n\
00969 \n\
00970 # Channel names in existing practice include:\n\
00971 # \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
00972 # This is opposite to usual conventions but remains for\n\
00973 # historical reasons. The newer PointCloud2 message has no\n\
00974 # such problem.\n\
00975 # \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
00976 # (R,G,B) values packed into the least significant 24 bits,\n\
00977 # in order.\n\
00978 # \"intensity\" - laser or pixel intensity.\n\
00979 # \"distance\"\n\
00980 \n\
00981 # The channel name should give semantics of the channel (e.g.\n\
00982 # \"intensity\" instead of \"value\").\n\
00983 string name\n\
00984 \n\
00985 # The values array should be 1-1 with the elements of the associated\n\
00986 # PointCloud.\n\
00987 float32[] values\n\
00988 \n\
00989 ================================================================================\n\
00990 MSG: object_manipulation_msgs/SceneRegion\n\
00991 # Point cloud\n\
00992 sensor_msgs/PointCloud2 cloud\n\
00993 \n\
00994 # Indices for the region of interest\n\
00995 int32[] mask\n\
00996 \n\
00997 # One of the corresponding 2D images, if applicable\n\
00998 sensor_msgs/Image image\n\
00999 \n\
01000 # The disparity image, if applicable\n\
01001 sensor_msgs/Image disparity_image\n\
01002 \n\
01003 # Camera info for the camera that took the image\n\
01004 sensor_msgs/CameraInfo cam_info\n\
01005 \n\
01006 # a 3D region of interest for grasp planning\n\
01007 geometry_msgs/PoseStamped roi_box_pose\n\
01008 geometry_msgs/Vector3 roi_box_dims\n\
01009 \n\
01010 ================================================================================\n\
01011 MSG: sensor_msgs/PointCloud2\n\
01012 # This message holds a collection of N-dimensional points, which may\n\
01013 # contain additional information such as normals, intensity, etc. The\n\
01014 # point data is stored as a binary blob, its layout described by the\n\
01015 # contents of the \"fields\" array.\n\
01016 \n\
01017 # The point cloud data may be organized 2d (image-like) or 1d\n\
01018 # (unordered). Point clouds organized as 2d images may be produced by\n\
01019 # camera depth sensors such as stereo or time-of-flight.\n\
01020 \n\
01021 # Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
01022 # points).\n\
01023 Header header\n\
01024 \n\
01025 # 2D structure of the point cloud. If the cloud is unordered, height is\n\
01026 # 1 and width is the length of the point cloud.\n\
01027 uint32 height\n\
01028 uint32 width\n\
01029 \n\
01030 # Describes the channels and their layout in the binary data blob.\n\
01031 PointField[] fields\n\
01032 \n\
01033 bool is_bigendian # Is this data bigendian?\n\
01034 uint32 point_step # Length of a point in bytes\n\
01035 uint32 row_step # Length of a row in bytes\n\
01036 uint8[] data # Actual point data, size is (row_step*height)\n\
01037 \n\
01038 bool is_dense # True if there are no invalid points\n\
01039 \n\
01040 ================================================================================\n\
01041 MSG: sensor_msgs/PointField\n\
01042 # This message holds the description of one point entry in the\n\
01043 # PointCloud2 message format.\n\
01044 uint8 INT8 = 1\n\
01045 uint8 UINT8 = 2\n\
01046 uint8 INT16 = 3\n\
01047 uint8 UINT16 = 4\n\
01048 uint8 INT32 = 5\n\
01049 uint8 UINT32 = 6\n\
01050 uint8 FLOAT32 = 7\n\
01051 uint8 FLOAT64 = 8\n\
01052 \n\
01053 string name # Name of field\n\
01054 uint32 offset # Offset from start of point struct\n\
01055 uint8 datatype # Datatype enumeration, see above\n\
01056 uint32 count # How many elements in the field\n\
01057 \n\
01058 ================================================================================\n\
01059 MSG: sensor_msgs/Image\n\
01060 # This message contains an uncompressed image\n\
01061 # (0, 0) is at top-left corner of image\n\
01062 #\n\
01063 \n\
01064 Header header # Header timestamp should be acquisition time of image\n\
01065 # Header frame_id should be optical frame of camera\n\
01066 # origin of frame should be optical center of cameara\n\
01067 # +x should point to the right in the image\n\
01068 # +y should point down in the image\n\
01069 # +z should point into to plane of the image\n\
01070 # If the frame_id here and the frame_id of the CameraInfo\n\
01071 # message associated with the image conflict\n\
01072 # the behavior is undefined\n\
01073 \n\
01074 uint32 height # image height, that is, number of rows\n\
01075 uint32 width # image width, that is, number of columns\n\
01076 \n\
01077 # The legal values for encoding are in file src/image_encodings.cpp\n\
01078 # If you want to standardize a new string format, join\n\
01079 # ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
01080 \n\
01081 string encoding # Encoding of pixels -- channel meaning, ordering, size\n\
01082 # taken from the list of strings in src/image_encodings.cpp\n\
01083 \n\
01084 uint8 is_bigendian # is this data bigendian?\n\
01085 uint32 step # Full row length in bytes\n\
01086 uint8[] data # actual matrix data, size is (step * rows)\n\
01087 \n\
01088 ================================================================================\n\
01089 MSG: sensor_msgs/CameraInfo\n\
01090 # This message defines meta information for a camera. It should be in a\n\
01091 # camera namespace on topic \"camera_info\" and accompanied by up to five\n\
01092 # image topics named:\n\
01093 #\n\
01094 # image_raw - raw data from the camera driver, possibly Bayer encoded\n\
01095 # image - monochrome, distorted\n\
01096 # image_color - color, distorted\n\
01097 # image_rect - monochrome, rectified\n\
01098 # image_rect_color - color, rectified\n\
01099 #\n\
01100 # The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
01101 # for producing the four processed image topics from image_raw and\n\
01102 # camera_info. The meaning of the camera parameters are described in\n\
01103 # detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
01104 #\n\
01105 # The image_geometry package provides a user-friendly interface to\n\
01106 # common operations using this meta information. If you want to, e.g.,\n\
01107 # project a 3d point into image coordinates, we strongly recommend\n\
01108 # using image_geometry.\n\
01109 #\n\
01110 # If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
01111 # zeroed out. In particular, clients may assume that K[0] == 0.0\n\
01112 # indicates an uncalibrated camera.\n\
01113 \n\
01114 #######################################################################\n\
01115 # Image acquisition info #\n\
01116 #######################################################################\n\
01117 \n\
01118 # Time of image acquisition, camera coordinate frame ID\n\
01119 Header header # Header timestamp should be acquisition time of image\n\
01120 # Header frame_id should be optical frame of camera\n\
01121 # origin of frame should be optical center of camera\n\
01122 # +x should point to the right in the image\n\
01123 # +y should point down in the image\n\
01124 # +z should point into the plane of the image\n\
01125 \n\
01126 \n\
01127 #######################################################################\n\
01128 # Calibration Parameters #\n\
01129 #######################################################################\n\
01130 # These are fixed during camera calibration. Their values will be the #\n\
01131 # same in all messages until the camera is recalibrated. Note that #\n\
01132 # self-calibrating systems may \"recalibrate\" frequently. #\n\
01133 # #\n\
01134 # The internal parameters can be used to warp a raw (distorted) image #\n\
01135 # to: #\n\
01136 # 1. An undistorted image (requires D and K) #\n\
01137 # 2. A rectified image (requires D, K, R) #\n\
01138 # The projection matrix P projects 3D points into the rectified image.#\n\
01139 #######################################################################\n\
01140 \n\
01141 # The image dimensions with which the camera was calibrated. Normally\n\
01142 # this will be the full camera resolution in pixels.\n\
01143 uint32 height\n\
01144 uint32 width\n\
01145 \n\
01146 # The distortion model used. Supported models are listed in\n\
01147 # sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
01148 # simple model of radial and tangential distortion - is sufficent.\n\
01149 string distortion_model\n\
01150 \n\
01151 # The distortion parameters, size depending on the distortion model.\n\
01152 # For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
01153 float64[] D\n\
01154 \n\
01155 # Intrinsic camera matrix for the raw (distorted) images.\n\
01156 # [fx 0 cx]\n\
01157 # K = [ 0 fy cy]\n\
01158 # [ 0 0 1]\n\
01159 # Projects 3D points in the camera coordinate frame to 2D pixel\n\
01160 # coordinates using the focal lengths (fx, fy) and principal point\n\
01161 # (cx, cy).\n\
01162 float64[9] K # 3x3 row-major matrix\n\
01163 \n\
01164 # Rectification matrix (stereo cameras only)\n\
01165 # A rotation matrix aligning the camera coordinate system to the ideal\n\
01166 # stereo image plane so that epipolar lines in both stereo images are\n\
01167 # parallel.\n\
01168 float64[9] R # 3x3 row-major matrix\n\
01169 \n\
01170 # Projection/camera matrix\n\
01171 # [fx' 0 cx' Tx]\n\
01172 # P = [ 0 fy' cy' Ty]\n\
01173 # [ 0 0 1 0]\n\
01174 # By convention, this matrix specifies the intrinsic (camera) matrix\n\
01175 # of the processed (rectified) image. That is, the left 3x3 portion\n\
01176 # is the normal camera intrinsic matrix for the rectified image.\n\
01177 # It projects 3D points in the camera coordinate frame to 2D pixel\n\
01178 # coordinates using the focal lengths (fx', fy') and principal point\n\
01179 # (cx', cy') - these may differ from the values in K.\n\
01180 # For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
01181 # also have R = the identity and P[1:3,1:3] = K.\n\
01182 # For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
01183 # position of the optical center of the second camera in the first\n\
01184 # camera's frame. We assume Tz = 0 so both cameras are in the same\n\
01185 # stereo image plane. The first camera always has Tx = Ty = 0. For\n\
01186 # the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
01187 # Tx = -fx' * B, where B is the baseline between the cameras.\n\
01188 # Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
01189 # the rectified image is given by:\n\
01190 # [u v w]' = P * [X Y Z 1]'\n\
01191 # x = u / w\n\
01192 # y = v / w\n\
01193 # This holds for both images of a stereo pair.\n\
01194 float64[12] P # 3x4 row-major matrix\n\
01195 \n\
01196 \n\
01197 #######################################################################\n\
01198 # Operational Parameters #\n\
01199 #######################################################################\n\
01200 # These define the image region actually captured by the camera #\n\
01201 # driver. Although they affect the geometry of the output image, they #\n\
01202 # may be changed freely without recalibrating the camera. #\n\
01203 #######################################################################\n\
01204 \n\
01205 # Binning refers here to any camera setting which combines rectangular\n\
01206 # neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
01207 # resolution of the output image to\n\
01208 # (width / binning_x) x (height / binning_y).\n\
01209 # The default values binning_x = binning_y = 0 is considered the same\n\
01210 # as binning_x = binning_y = 1 (no subsampling).\n\
01211 uint32 binning_x\n\
01212 uint32 binning_y\n\
01213 \n\
01214 # Region of interest (subwindow of full camera resolution), given in\n\
01215 # full resolution (unbinned) image coordinates. A particular ROI\n\
01216 # always denotes the same window of pixels on the camera sensor,\n\
01217 # regardless of binning settings.\n\
01218 # The default setting of roi (all values 0) is considered the same as\n\
01219 # full resolution (roi.width = width, roi.height = height).\n\
01220 RegionOfInterest roi\n\
01221 \n\
01222 ================================================================================\n\
01223 MSG: sensor_msgs/RegionOfInterest\n\
01224 # This message is used to specify a region of interest within an image.\n\
01225 #\n\
01226 # When used to specify the ROI setting of the camera when the image was\n\
01227 # taken, the height and width fields should either match the height and\n\
01228 # width fields for the associated image; or height = width = 0\n\
01229 # indicates that the full resolution image was captured.\n\
01230 \n\
01231 uint32 x_offset # Leftmost pixel of the ROI\n\
01232 # (0 if the ROI includes the left edge of the image)\n\
01233 uint32 y_offset # Topmost pixel of the ROI\n\
01234 # (0 if the ROI includes the top edge of the image)\n\
01235 uint32 height # Height of ROI\n\
01236 uint32 width # Width of ROI\n\
01237 \n\
01238 # True if a distinct rectified ROI should be calculated from the \"raw\"\n\
01239 # ROI in this message. Typically this should be False if the full image\n\
01240 # is captured (ROI not used), and True if a subwindow is captured (ROI\n\
01241 # used).\n\
01242 bool do_rectify\n\
01243 \n\
01244 ================================================================================\n\
01245 MSG: geometry_msgs/Vector3\n\
01246 # This represents a vector in free space. \n\
01247 \n\
01248 float64 x\n\
01249 float64 y\n\
01250 float64 z\n\
01251 ================================================================================\n\
01252 MSG: pr2_object_manipulation_msgs/IMGUIAdvancedOptions\n\
01253 \n\
01254 bool reactive_grasping\n\
01255 bool reactive_force \n\
01256 bool reactive_place\n\
01257 int32 lift_steps\n\
01258 int32 retreat_steps\n\
01259 int32 lift_direction_choice\n\
01260 int32 desired_approach\n\
01261 int32 min_approach\n\
01262 float32 max_contact_force\n\
01263 \n\
01264 ================================================================================\n\
01265 MSG: pr2_object_manipulation_msgs/IMGUICommand\n\
01266 \n\
01267 int32 PICKUP = 0\n\
01268 int32 PLACE = 1\n\
01269 int32 PLANNED_MOVE = 2\n\
01270 int32 RESET = 3\n\
01271 int32 MOVE_ARM = 4\n\
01272 int32 LOOK_AT_TABLE = 5\n\
01273 int32 MODEL_OBJECT = 6\n\
01274 int32 MOVE_GRIPPER = 7\n\
01275 int32 SCRIPTED_ACTION = 8\n\
01276 int32 STOP_NAV = 9\n\
01277 \n\
01278 int32 command\n\
01279 string script_name\n\
01280 string script_group_name\n\
01281 \n\
01282 ================================================================================\n\
01283 MSG: pr2_object_manipulation_msgs/IMGUIActionResult\n\
01284 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
01285 \n\
01286 Header header\n\
01287 actionlib_msgs/GoalStatus status\n\
01288 IMGUIResult result\n\
01289 \n\
01290 ================================================================================\n\
01291 MSG: actionlib_msgs/GoalStatus\n\
01292 GoalID goal_id\n\
01293 uint8 status\n\
01294 uint8 PENDING = 0 # The goal has yet to be processed by the action server\n\
01295 uint8 ACTIVE = 1 # The goal is currently being processed by the action server\n\
01296 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing\n\
01297 # and has since completed its execution (Terminal State)\n\
01298 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)\n\
01299 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due\n\
01300 # to some failure (Terminal State)\n\
01301 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,\n\
01302 # because the goal was unattainable or invalid (Terminal State)\n\
01303 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing\n\
01304 # and has not yet completed execution\n\
01305 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,\n\
01306 # but the action server has not yet confirmed that the goal is canceled\n\
01307 uint8 RECALLED = 8 # The goal received a cancel request before it started executing\n\
01308 # and was successfully cancelled (Terminal State)\n\
01309 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be\n\
01310 # sent over the wire by an action server\n\
01311 \n\
01312 #Allow for the user to associate a string with GoalStatus for debugging\n\
01313 string text\n\
01314 \n\
01315 \n\
01316 ================================================================================\n\
01317 MSG: pr2_object_manipulation_msgs/IMGUIResult\n\
01318 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
01319 \n\
01320 #empty result\n\
01321 object_manipulation_msgs/ManipulationResult result\n\
01322 \n\
01323 \n\
01324 ================================================================================\n\
01325 MSG: object_manipulation_msgs/ManipulationResult\n\
01326 # Result codes for manipulation tasks\n\
01327 \n\
01328 # task completed as expected\n\
01329 # generally means you can proceed as planned\n\
01330 int32 SUCCESS = 1\n\
01331 \n\
01332 # task not possible (e.g. out of reach or obstacles in the way)\n\
01333 # generally means that the world was not disturbed, so you can try another task\n\
01334 int32 UNFEASIBLE = -1\n\
01335 \n\
01336 # task was thought possible, but failed due to unexpected events during execution\n\
01337 # it is likely that the world was disturbed, so you are encouraged to refresh\n\
01338 # your sensed world model before proceeding to another task\n\
01339 int32 FAILED = -2\n\
01340 \n\
01341 # a lower level error prevented task completion (e.g. joint controller not responding)\n\
01342 # generally requires human attention\n\
01343 int32 ERROR = -3\n\
01344 \n\
01345 # means that at some point during execution we ended up in a state that the collision-aware\n\
01346 # arm navigation module will not move out of. The world was likely not disturbed, but you \n\
01347 # probably need a new collision map to move the arm out of the stuck position\n\
01348 int32 ARM_MOVEMENT_PREVENTED = -4\n\
01349 \n\
01350 # specific to grasp actions\n\
01351 # the object was grasped successfully, but the lift attempt could not achieve the minimum lift distance requested\n\
01352 # it is likely that the collision environment will see collisions between the hand/object and the support surface\n\
01353 int32 LIFT_FAILED = -5\n\
01354 \n\
01355 # specific to place actions\n\
01356 # the object was placed successfully, but the retreat attempt could not achieve the minimum retreat distance requested\n\
01357 # it is likely that the collision environment will see collisions between the hand and the object\n\
01358 int32 RETREAT_FAILED = -6\n\
01359 \n\
01360 # indicates that somewhere along the line a human said \"wait, stop, this is bad, go back and do something else\"\n\
01361 int32 CANCELLED = -7\n\
01362 \n\
01363 # the actual value of this error code\n\
01364 int32 value\n\
01365 \n\
01366 ================================================================================\n\
01367 MSG: pr2_object_manipulation_msgs/IMGUIActionFeedback\n\
01368 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
01369 \n\
01370 Header header\n\
01371 actionlib_msgs/GoalStatus status\n\
01372 IMGUIFeedback feedback\n\
01373 \n\
01374 ================================================================================\n\
01375 MSG: pr2_object_manipulation_msgs/IMGUIFeedback\n\
01376 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======\n\
01377 \n\
01378 string status\n\
01379 \n\
01380 \n\
01381 ";
01382 }
01383
01384 static const char* value(const ::pr2_object_manipulation_msgs::IMGUIAction_<ContainerAllocator> &) { return value(); }
01385 };
01386
01387 }
01388 }
01389
01390 namespace ros
01391 {
01392 namespace serialization
01393 {
01394
01395 template<class ContainerAllocator> struct Serializer< ::pr2_object_manipulation_msgs::IMGUIAction_<ContainerAllocator> >
01396 {
01397 template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
01398 {
01399 stream.next(m.action_goal);
01400 stream.next(m.action_result);
01401 stream.next(m.action_feedback);
01402 }
01403
01404 ROS_DECLARE_ALLINONE_SERIALIZER;
01405 };
01406 }
01407 }
01408
01409 namespace ros
01410 {
01411 namespace message_operations
01412 {
01413
01414 template<class ContainerAllocator>
01415 struct Printer< ::pr2_object_manipulation_msgs::IMGUIAction_<ContainerAllocator> >
01416 {
01417 template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::pr2_object_manipulation_msgs::IMGUIAction_<ContainerAllocator> & v)
01418 {
01419 s << indent << "action_goal: ";
01420 s << std::endl;
01421 Printer< ::pr2_object_manipulation_msgs::IMGUIActionGoal_<ContainerAllocator> >::stream(s, indent + " ", v.action_goal);
01422 s << indent << "action_result: ";
01423 s << std::endl;
01424 Printer< ::pr2_object_manipulation_msgs::IMGUIActionResult_<ContainerAllocator> >::stream(s, indent + " ", v.action_result);
01425 s << indent << "action_feedback: ";
01426 s << std::endl;
01427 Printer< ::pr2_object_manipulation_msgs::IMGUIActionFeedback_<ContainerAllocator> >::stream(s, indent + " ", v.action_feedback);
01428 }
01429 };
01430
01431
01432 }
01433 }
01434
01435 #endif // PR2_OBJECT_MANIPULATION_MSGS_MESSAGE_IMGUIACTION_H
01436
