PickupAction.h

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/* Auto-generated by genmsg_cpp for file /tmp/buildd/ros-diamondback-object-manipulation-0.4.4/debian/ros-diamondback-object-manipulation/opt/ros/diamondback/stacks/object_manipulation/object_manipulation_msgs/msg/PickupAction.msg */
#ifndef OBJECT_MANIPULATION_MSGS_MESSAGE_PICKUPACTION_H
#define OBJECT_MANIPULATION_MSGS_MESSAGE_PICKUPACTION_H
#include <string>
#include <vector>
#include <ostream>
#include "ros/serialization.h"
#include "ros/builtin_message_traits.h"
#include "ros/message_operations.h"
#include "ros/message.h"
#include "ros/time.h"

#include "object_manipulation_msgs/PickupActionGoal.h"
#include "object_manipulation_msgs/PickupActionResult.h"
#include "object_manipulation_msgs/PickupActionFeedback.h"

namespace object_manipulation_msgs
{
template <class ContainerAllocator>
struct PickupAction_ : public ros::Message
{
  typedef PickupAction_<ContainerAllocator> Type;

  PickupAction_()
  : action_goal()
  , action_result()
  , action_feedback()
  {
  }

  PickupAction_(const ContainerAllocator& _alloc)
  : action_goal(_alloc)
  , action_result(_alloc)
  , action_feedback(_alloc)
  {
  }

  typedef  ::object_manipulation_msgs::PickupActionGoal_<ContainerAllocator>  _action_goal_type;
   ::object_manipulation_msgs::PickupActionGoal_<ContainerAllocator>  action_goal;

  typedef  ::object_manipulation_msgs::PickupActionResult_<ContainerAllocator>  _action_result_type;
   ::object_manipulation_msgs::PickupActionResult_<ContainerAllocator>  action_result;

  typedef  ::object_manipulation_msgs::PickupActionFeedback_<ContainerAllocator>  _action_feedback_type;
   ::object_manipulation_msgs::PickupActionFeedback_<ContainerAllocator>  action_feedback;


private:
  static const char* __s_getDataType_() { return "object_manipulation_msgs/PickupAction"; }
public:
  ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }

  ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }

private:
  static const char* __s_getMD5Sum_() { return "4c4251571eb6b9f4c166c8e6a30f33ee"; }
public:
  ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }

  ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }

private:
  static const char* __s_getMessageDefinition_() { return "PickupActionGoal action_goal\n\
PickupActionResult action_result\n\
PickupActionFeedback action_feedback\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/PickupActionGoal\n\
Header header\n\
actionlib_msgs/GoalID goal_id\n\
PickupGoal goal\n\
\n\
================================================================================\n\
MSG: std_msgs/Header\n\
# Standard metadata for higher-level stamped data types.\n\
# This is generally used to communicate timestamped data \n\
# in a particular coordinate frame.\n\
# \n\
# sequence ID: consecutively increasing ID \n\
uint32 seq\n\
#Two-integer timestamp that is expressed as:\n\
# * stamp.secs: seconds (stamp_secs) since epoch\n\
# * stamp.nsecs: nanoseconds since stamp_secs\n\
# time-handling sugar is provided by the client library\n\
time stamp\n\
#Frame this data is associated with\n\
# 0: no frame\n\
# 1: global frame\n\
string frame_id\n\
\n\
================================================================================\n\
MSG: actionlib_msgs/GoalID\n\
# The stamp should store the time at which this goal was requested.\n\
# It is used by an action server when it tries to preempt all\n\
# goals that were requested before a certain time\n\
time stamp\n\
\n\
# The id provides a way to associate feedback and\n\
# result message with specific goal requests. The id\n\
# specified must be unique.\n\
string id\n\
\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/PickupGoal\n\
# An action for picking up an object\n\
\n\
# which arm to be used for grasping\n\
string arm_name\n\
\n\
# the object to be grasped\n\
GraspableObject target\n\
\n\
# a list of grasps to be used\n\
# if empty, the grasp executive will call one of its own planners\n\
Grasp[] desired_grasps\n\
\n\
# how far the pre-grasp should ideally be away from the grasp\n\
float32 desired_approach_distance\n\
\n\
# how much distance between pre-grasp and grasp must actually be feasible \n\
# for the grasp not to be rejected\n\
float32 min_approach_distance\n\
\n\
# how the object should be lifted after the grasp\n\
# the frame_id that this lift is specified in MUST be either the robot_frame \n\
# or the gripper_frame specified in your hand description file\n\
GripperTranslation lift\n\
\n\
# the name that the target object has in the collision map\n\
# can be left empty if no name is available\n\
string collision_object_name\n\
\n\
# the name that the support surface (e.g. table) has in the collision map\n\
# can be left empty if no name is available\n\
string collision_support_surface_name\n\
\n\
# whether collisions between the gripper and the support surface should be acceptable\n\
# during move from pre-grasp to grasp and during lift. Collisions when moving to the\n\
# pre-grasp location are still not allowed even if this is set to true.\n\
bool allow_gripper_support_collision\n\
\n\
# whether reactive grasp execution using tactile sensors should be used\n\
bool use_reactive_execution\n\
\n\
# whether reactive object lifting based on tactile sensors should be used\n\
bool use_reactive_lift\n\
\n\
# OPTIONAL (These will not have to be filled out most of the time)\n\
# constraints to be imposed on every point in the motion of the arm\n\
motion_planning_msgs/Constraints path_constraints\n\
\n\
# OPTIONAL (These will not have to be filled out most of the time)\n\
# additional collision operations to be used for every arm movement performed\n\
# during grasping. Note that these will be added on top of (and thus overide) other \n\
# collision operations that the grasping pipeline deems necessary. Should be used\n\
# with care and only if special behaviors are desired\n\
motion_planning_msgs/OrderedCollisionOperations additional_collision_operations\n\
\n\
# OPTIONAL (These will not have to be filled out most of the time)\n\
# additional link paddings to be used for every arm movement performed\n\
# during grasping. Note that these will be added on top of (and thus overide) other \n\
# link paddings that the grasping pipeline deems necessary. Should be used\n\
# with care and only if special behaviors are desired\n\
motion_planning_msgs/LinkPadding[] additional_link_padding\n\
================================================================================\n\
MSG: object_manipulation_msgs/GraspableObject\n\
# an object that the object_manipulator can work on\n\
\n\
# a graspable object can be represented in multiple ways. This message\n\
# can contain all of them. Which one is actually used is up to the receiver\n\
# of this message. When adding new representations, one must be careful that\n\
# they have reasonable lightweight defaults indicating that that particular\n\
# representation is not available.\n\
\n\
# the tf frame to be used as a reference frame when combining information from\n\
# the different representations below\n\
string reference_frame_id\n\
\n\
# potential recognition results from a database of models\n\
# all poses are relative to the object reference pose\n\
household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
\n\
# the point cloud itself\n\
sensor_msgs/PointCloud cluster\n\
\n\
# a region of a PointCloud2 of interest\n\
object_manipulation_msgs/SceneRegion region\n\
\n\
\n\
================================================================================\n\
MSG: household_objects_database_msgs/DatabaseModelPose\n\
# Informs that a specific model from the Model Database has been \n\
# identified at a certain location\n\
\n\
# the database id of the model\n\
int32 model_id\n\
\n\
# the pose that it can be found in\n\
geometry_msgs/PoseStamped pose\n\
\n\
# a measure of the confidence level in this detection result\n\
float32 confidence\n\
================================================================================\n\
MSG: geometry_msgs/PoseStamped\n\
# A Pose with reference coordinate frame and timestamp\n\
Header header\n\
Pose pose\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Pose\n\
# A representation of pose in free space, composed of postion and orientation. \n\
Point position\n\
Quaternion orientation\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point\n\
# This contains the position of a point in free space\n\
float64 x\n\
float64 y\n\
float64 z\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Quaternion\n\
# This represents an orientation in free space in quaternion form.\n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
float64 w\n\
\n\
================================================================================\n\
MSG: sensor_msgs/PointCloud\n\
# This message holds a collection of 3d points, plus optional additional\n\
# information about each point.\n\
\n\
# Time of sensor data acquisition, coordinate frame ID.\n\
Header header\n\
\n\
# Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
# in the frame given in the header.\n\
geometry_msgs/Point32[] points\n\
\n\
# Each channel should have the same number of elements as points array,\n\
# and the data in each channel should correspond 1:1 with each point.\n\
# Channel names in common practice are listed in ChannelFloat32.msg.\n\
ChannelFloat32[] channels\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point32\n\
# This contains the position of a point in free space(with 32 bits of precision).\n\
# It is recommeded to use Point wherever possible instead of Point32.  \n\
# \n\
# This recommendation is to promote interoperability.  \n\
#\n\
# This message is designed to take up less space when sending\n\
# lots of points at once, as in the case of a PointCloud.  \n\
\n\
float32 x\n\
float32 y\n\
float32 z\n\
================================================================================\n\
MSG: sensor_msgs/ChannelFloat32\n\
# This message is used by the PointCloud message to hold optional data\n\
# associated with each point in the cloud. The length of the values\n\
# array should be the same as the length of the points array in the\n\
# PointCloud, and each value should be associated with the corresponding\n\
# point.\n\
\n\
# Channel names in existing practice include:\n\
#   \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
#              This is opposite to usual conventions but remains for\n\
#              historical reasons. The newer PointCloud2 message has no\n\
#              such problem.\n\
#   \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
#           (R,G,B) values packed into the least significant 24 bits,\n\
#           in order.\n\
#   \"intensity\" - laser or pixel intensity.\n\
#   \"distance\"\n\
\n\
# The channel name should give semantics of the channel (e.g.\n\
# \"intensity\" instead of \"value\").\n\
string name\n\
\n\
# The values array should be 1-1 with the elements of the associated\n\
# PointCloud.\n\
float32[] values\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/SceneRegion\n\
# Point cloud\n\
sensor_msgs/PointCloud2 cloud\n\
\n\
# Indices for the region of interest\n\
int32[] mask\n\
\n\
# One of the corresponding 2D images, if applicable\n\
sensor_msgs/Image image\n\
\n\
# The disparity image, if applicable\n\
sensor_msgs/Image disparity_image\n\
\n\
# Camera info for the camera that took the image\n\
sensor_msgs/CameraInfo cam_info\n\
\n\
================================================================================\n\
MSG: sensor_msgs/PointCloud2\n\
# This message holds a collection of N-dimensional points, which may\n\
# contain additional information such as normals, intensity, etc. The\n\
# point data is stored as a binary blob, its layout described by the\n\
# contents of the \"fields\" array.\n\
\n\
# The point cloud data may be organized 2d (image-like) or 1d\n\
# (unordered). Point clouds organized as 2d images may be produced by\n\
# camera depth sensors such as stereo or time-of-flight.\n\
\n\
# Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
# points).\n\
Header header\n\
\n\
# 2D structure of the point cloud. If the cloud is unordered, height is\n\
# 1 and width is the length of the point cloud.\n\
uint32 height\n\
uint32 width\n\
\n\
# Describes the channels and their layout in the binary data blob.\n\
PointField[] fields\n\
\n\
bool    is_bigendian # Is this data bigendian?\n\
uint32  point_step   # Length of a point in bytes\n\
uint32  row_step     # Length of a row in bytes\n\
uint8[] data         # Actual point data, size is (row_step*height)\n\
\n\
bool is_dense        # True if there are no invalid points\n\
\n\
================================================================================\n\
MSG: sensor_msgs/PointField\n\
# This message holds the description of one point entry in the\n\
# PointCloud2 message format.\n\
uint8 INT8    = 1\n\
uint8 UINT8   = 2\n\
uint8 INT16   = 3\n\
uint8 UINT16  = 4\n\
uint8 INT32   = 5\n\
uint8 UINT32  = 6\n\
uint8 FLOAT32 = 7\n\
uint8 FLOAT64 = 8\n\
\n\
string name      # Name of field\n\
uint32 offset    # Offset from start of point struct\n\
uint8  datatype  # Datatype enumeration, see above\n\
uint32 count     # How many elements in the field\n\
\n\
================================================================================\n\
MSG: sensor_msgs/Image\n\
# This message contains an uncompressed image\n\
# (0, 0) is at top-left corner of image\n\
#\n\
\n\
Header header        # Header timestamp should be acquisition time of image\n\
                     # Header frame_id should be optical frame of camera\n\
                     # origin of frame should be optical center of cameara\n\
                     # +x should point to the right in the image\n\
                     # +y should point down in the image\n\
                     # +z should point into to plane of the image\n\
                     # If the frame_id here and the frame_id of the CameraInfo\n\
                     # message associated with the image conflict\n\
                     # the behavior is undefined\n\
\n\
uint32 height         # image height, that is, number of rows\n\
uint32 width          # image width, that is, number of columns\n\
\n\
# The legal values for encoding are in file src/image_encodings.cpp\n\
# If you want to standardize a new string format, join\n\
# ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
\n\
string encoding       # Encoding of pixels -- channel meaning, ordering, size\n\
                      # taken from the list of strings in src/image_encodings.cpp\n\
\n\
uint8 is_bigendian    # is this data bigendian?\n\
uint32 step           # Full row length in bytes\n\
uint8[] data          # actual matrix data, size is (step * rows)\n\
\n\
================================================================================\n\
MSG: sensor_msgs/CameraInfo\n\
# This message defines meta information for a camera. It should be in a\n\
# camera namespace on topic \"camera_info\" and accompanied by up to five\n\
# image topics named:\n\
#\n\
#   image_raw - raw data from the camera driver, possibly Bayer encoded\n\
#   image            - monochrome, distorted\n\
#   image_color      - color, distorted\n\
#   image_rect       - monochrome, rectified\n\
#   image_rect_color - color, rectified\n\
#\n\
# The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
# for producing the four processed image topics from image_raw and\n\
# camera_info. The meaning of the camera parameters are described in\n\
# detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
#\n\
# The image_geometry package provides a user-friendly interface to\n\
# common operations using this meta information. If you want to, e.g.,\n\
# project a 3d point into image coordinates, we strongly recommend\n\
# using image_geometry.\n\
#\n\
# If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
# zeroed out. In particular, clients may assume that K[0] == 0.0\n\
# indicates an uncalibrated camera.\n\
\n\
#######################################################################\n\
#                     Image acquisition info                          #\n\
#######################################################################\n\
\n\
# Time of image acquisition, camera coordinate frame ID\n\
Header header    # Header timestamp should be acquisition time of image\n\
                 # Header frame_id should be optical frame of camera\n\
                 # origin of frame should be optical center of camera\n\
                 # +x should point to the right in the image\n\
                 # +y should point down in the image\n\
                 # +z should point into the plane of the image\n\
\n\
\n\
#######################################################################\n\
#                      Calibration Parameters                         #\n\
#######################################################################\n\
# These are fixed during camera calibration. Their values will be the #\n\
# same in all messages until the camera is recalibrated. Note that    #\n\
# self-calibrating systems may \"recalibrate\" frequently.              #\n\
#                                                                     #\n\
# The internal parameters can be used to warp a raw (distorted) image #\n\
# to:                                                                 #\n\
#   1. An undistorted image (requires D and K)                        #\n\
#   2. A rectified image (requires D, K, R)                           #\n\
# The projection matrix P projects 3D points into the rectified image.#\n\
#######################################################################\n\
\n\
# The image dimensions with which the camera was calibrated. Normally\n\
# this will be the full camera resolution in pixels.\n\
uint32 height\n\
uint32 width\n\
\n\
# The distortion model used. Supported models are listed in\n\
# sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
# simple model of radial and tangential distortion - is sufficent.\n\
string distortion_model\n\
\n\
# The distortion parameters, size depending on the distortion model.\n\
# For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
float64[] D\n\
\n\
# Intrinsic camera matrix for the raw (distorted) images.\n\
#     [fx  0 cx]\n\
# K = [ 0 fy cy]\n\
#     [ 0  0  1]\n\
# Projects 3D points in the camera coordinate frame to 2D pixel\n\
# coordinates using the focal lengths (fx, fy) and principal point\n\
# (cx, cy).\n\
float64[9]  K # 3x3 row-major matrix\n\
\n\
# Rectification matrix (stereo cameras only)\n\
# A rotation matrix aligning the camera coordinate system to the ideal\n\
# stereo image plane so that epipolar lines in both stereo images are\n\
# parallel.\n\
float64[9]  R # 3x3 row-major matrix\n\
\n\
# Projection/camera matrix\n\
#     [fx'  0  cx' Tx]\n\
# P = [ 0  fy' cy' Ty]\n\
#     [ 0   0   1   0]\n\
# By convention, this matrix specifies the intrinsic (camera) matrix\n\
#  of the processed (rectified) image. That is, the left 3x3 portion\n\
#  is the normal camera intrinsic matrix for the rectified image.\n\
# It projects 3D points in the camera coordinate frame to 2D pixel\n\
#  coordinates using the focal lengths (fx', fy') and principal point\n\
#  (cx', cy') - these may differ from the values in K.\n\
# For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
#  also have R = the identity and P[1:3,1:3] = K.\n\
# For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
#  position of the optical center of the second camera in the first\n\
#  camera's frame. We assume Tz = 0 so both cameras are in the same\n\
#  stereo image plane. The first camera always has Tx = Ty = 0. For\n\
#  the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
#  Tx = -fx' * B, where B is the baseline between the cameras.\n\
# Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
#  the rectified image is given by:\n\
#  [u v w]' = P * [X Y Z 1]'\n\
#         x = u / w\n\
#         y = v / w\n\
#  This holds for both images of a stereo pair.\n\
float64[12] P # 3x4 row-major matrix\n\
\n\
\n\
#######################################################################\n\
#                      Operational Parameters                         #\n\
#######################################################################\n\
# These define the image region actually captured by the camera       #\n\
# driver. Although they affect the geometry of the output image, they #\n\
# may be changed freely without recalibrating the camera.             #\n\
#######################################################################\n\
\n\
# Binning refers here to any camera setting which combines rectangular\n\
#  neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
#  resolution of the output image to\n\
#  (width / binning_x) x (height / binning_y).\n\
# The default values binning_x = binning_y = 0 is considered the same\n\
#  as binning_x = binning_y = 1 (no subsampling).\n\
uint32 binning_x\n\
uint32 binning_y\n\
\n\
# Region of interest (subwindow of full camera resolution), given in\n\
#  full resolution (unbinned) image coordinates. A particular ROI\n\
#  always denotes the same window of pixels on the camera sensor,\n\
#  regardless of binning settings.\n\
# The default setting of roi (all values 0) is considered the same as\n\
#  full resolution (roi.width = width, roi.height = height).\n\
RegionOfInterest roi\n\
\n\
================================================================================\n\
MSG: sensor_msgs/RegionOfInterest\n\
# This message is used to specify a region of interest within an image.\n\
#\n\
# When used to specify the ROI setting of the camera when the image was\n\
# taken, the height and width fields should either match the height and\n\
# width fields for the associated image; or height = width = 0\n\
# indicates that the full resolution image was captured.\n\
\n\
uint32 x_offset  # Leftmost pixel of the ROI\n\
                 # (0 if the ROI includes the left edge of the image)\n\
uint32 y_offset  # Topmost pixel of the ROI\n\
                 # (0 if the ROI includes the top edge of the image)\n\
uint32 height    # Height of ROI\n\
uint32 width     # Width of ROI\n\
\n\
# True if a distinct rectified ROI should be calculated from the \"raw\"\n\
# ROI in this message. Typically this should be False if the full image\n\
# is captured (ROI not used), and True if a subwindow is captured (ROI\n\
# used).\n\
bool do_rectify\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/Grasp\n\
\n\
# The internal posture of the hand for the pre-grasp\n\
# only positions are used\n\
sensor_msgs/JointState pre_grasp_posture\n\
\n\
# The internal posture of the hand for the grasp\n\
# positions and efforts are used\n\
sensor_msgs/JointState grasp_posture\n\
\n\
# The position of the end-effector for the grasp relative to the object\n\
geometry_msgs/Pose grasp_pose\n\
\n\
# The estimated probability of success for this grasp\n\
float64 success_probability\n\
\n\
# Debug flag to indicate that this grasp would be the best in its cluster\n\
bool cluster_rep\n\
================================================================================\n\
MSG: sensor_msgs/JointState\n\
# This is a message that holds data to describe the state of a set of torque controlled joints. \n\
#\n\
# The state of each joint (revolute or prismatic) is defined by:\n\
#  * the position of the joint (rad or m),\n\
#  * the velocity of the joint (rad/s or m/s) and \n\
#  * the effort that is applied in the joint (Nm or N).\n\
#\n\
# Each joint is uniquely identified by its name\n\
# The header specifies the time at which the joint states were recorded. All the joint states\n\
# in one message have to be recorded at the same time.\n\
#\n\
# This message consists of a multiple arrays, one for each part of the joint state. \n\
# The goal is to make each of the fields optional. When e.g. your joints have no\n\
# effort associated with them, you can leave the effort array empty. \n\
#\n\
# All arrays in this message should have the same size, or be empty.\n\
# This is the only way to uniquely associate the joint name with the correct\n\
# states.\n\
\n\
\n\
Header header\n\
\n\
string[] name\n\
float64[] position\n\
float64[] velocity\n\
float64[] effort\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/GripperTranslation\n\
# defines a translation for the gripper, used in pickup or place tasks\n\
# for example for lifting an object off a table or approaching the table for placing\n\
\n\
# the direction of the translation\n\
geometry_msgs/Vector3Stamped direction\n\
\n\
# the desired translation distance\n\
float32 desired_distance\n\
\n\
# the min distance that must be considered feasible before the\n\
# grasp is even attempted\n\
float32 min_distance\n\
================================================================================\n\
MSG: geometry_msgs/Vector3Stamped\n\
# This represents a Vector3 with reference coordinate frame and timestamp\n\
Header header\n\
Vector3 vector\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Vector3\n\
# This represents a vector in free space. \n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
================================================================================\n\
MSG: motion_planning_msgs/Constraints\n\
# This message contains a list of motion planning constraints.\n\
\n\
motion_planning_msgs/JointConstraint[] joint_constraints\n\
motion_planning_msgs/PositionConstraint[] position_constraints\n\
motion_planning_msgs/OrientationConstraint[] orientation_constraints\n\
motion_planning_msgs/VisibilityConstraint[] visibility_constraints\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/JointConstraint\n\
# Constrain the position of a joint to be within a certain bound\n\
string joint_name\n\
\n\
# the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
float64 position\n\
float64 tolerance_above\n\
float64 tolerance_below\n\
\n\
# A weighting factor for this constraint\n\
float64 weight\n\
================================================================================\n\
MSG: motion_planning_msgs/PositionConstraint\n\
# This message contains the definition of a position constraint.\n\
Header header\n\
\n\
# The robot link this constraint refers to\n\
string link_name\n\
\n\
# The offset (in the link frame) for the target point on the link we are planning for\n\
geometry_msgs/Point target_point_offset\n\
\n\
# The nominal/target position for the point we are planning for\n\
geometry_msgs/Point position\n\
\n\
# The shape of the bounded region that constrains the position of the end-effector\n\
# This region is always centered at the position defined above\n\
geometric_shapes_msgs/Shape constraint_region_shape\n\
\n\
# The orientation of the bounded region that constrains the position of the end-effector. \n\
# This allows the specification of non-axis aligned constraints\n\
geometry_msgs/Quaternion constraint_region_orientation\n\
\n\
# Constraint weighting factor - a weight for this constraint\n\
float64 weight\n\
================================================================================\n\
MSG: geometric_shapes_msgs/Shape\n\
byte SPHERE=0\n\
byte BOX=1\n\
byte CYLINDER=2\n\
byte MESH=3\n\
\n\
byte type\n\
\n\
\n\
#### define sphere, box, cylinder ####\n\
# the origin of each shape is considered at the shape's center\n\
\n\
# for sphere\n\
# radius := dimensions[0]\n\
\n\
# for cylinder\n\
# radius := dimensions[0]\n\
# length := dimensions[1]\n\
# the length is along the Z axis\n\
\n\
# for box\n\
# size_x := dimensions[0]\n\
# size_y := dimensions[1]\n\
# size_z := dimensions[2]\n\
float64[] dimensions\n\
\n\
\n\
#### define mesh ####\n\
\n\
# list of triangles; triangle k is defined by tre vertices located\n\
# at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
int32[] triangles\n\
geometry_msgs/Point[] vertices\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/OrientationConstraint\n\
# This message contains the definition of an orientation constraint.\n\
Header header\n\
\n\
# The robot link this constraint refers to\n\
string link_name\n\
\n\
# The type of the constraint\n\
int32 type\n\
int32 LINK_FRAME=0\n\
int32 HEADER_FRAME=1\n\
\n\
# The desired orientation of the robot link specified as a quaternion\n\
geometry_msgs/Quaternion orientation\n\
\n\
# optional RPY error tolerances specified if \n\
float64 absolute_roll_tolerance\n\
float64 absolute_pitch_tolerance\n\
float64 absolute_yaw_tolerance\n\
\n\
# Constraint weighting factor - a weight for this constraint\n\
float64 weight\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/VisibilityConstraint\n\
# This message contains the definition of a visibility constraint.\n\
Header header\n\
\n\
# The point stamped target that needs to be kept within view of the sensor\n\
geometry_msgs/PointStamped target\n\
\n\
# The local pose of the frame in which visibility is to be maintained\n\
# The frame id should represent the robot link to which the sensor is attached\n\
# The visual axis of the sensor is assumed to be along the X axis of this frame\n\
geometry_msgs/PoseStamped sensor_pose\n\
\n\
# The deviation (in radians) that will be tolerated\n\
# Constraint error will be measured as the solid angle between the \n\
# X axis of the frame defined above and the vector between the origin \n\
# of the frame defined above and the target location\n\
float64 absolute_tolerance\n\
\n\
\n\
================================================================================\n\
MSG: geometry_msgs/PointStamped\n\
# This represents a Point with reference coordinate frame and timestamp\n\
Header header\n\
Point point\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/OrderedCollisionOperations\n\
# A set of collision operations that will be performed in the order they are specified\n\
CollisionOperation[] collision_operations\n\
================================================================================\n\
MSG: motion_planning_msgs/CollisionOperation\n\
# A definition of a collision operation\n\
# E.g. (\"gripper\",COLLISION_SET_ALL,ENABLE) will enable collisions \n\
# between the gripper and all objects in the collision space\n\
\n\
string object1\n\
string object2\n\
string COLLISION_SET_ALL=\"all\"\n\
string COLLISION_SET_OBJECTS=\"objects\"\n\
string COLLISION_SET_ATTACHED_OBJECTS=\"attached\"\n\
\n\
# The penetration distance to which collisions are allowed. This is 0.0 by default.\n\
float64 penetration_distance\n\
\n\
# Flag that determines whether collisions will be enabled or disabled for the pair of objects specified above\n\
int32 operation\n\
int32 DISABLE=0\n\
int32 ENABLE=1\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/LinkPadding\n\
#name for the link\n\
string link_name\n\
\n\
# padding to apply to the link\n\
float64 padding\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/PickupActionResult\n\
Header header\n\
actionlib_msgs/GoalStatus status\n\
PickupResult result\n\
\n\
================================================================================\n\
MSG: actionlib_msgs/GoalStatus\n\
GoalID goal_id\n\
uint8 status\n\
uint8 PENDING         = 0   # The goal has yet to be processed by the action server\n\
uint8 ACTIVE          = 1   # The goal is currently being processed by the action server\n\
uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing\n\
                            #   and has since completed its execution (Terminal State)\n\
uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)\n\
uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due\n\
                            #    to some failure (Terminal State)\n\
uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,\n\
                            #    because the goal was unattainable or invalid (Terminal State)\n\
uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing\n\
                            #    and has not yet completed execution\n\
uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,\n\
                            #    but the action server has not yet confirmed that the goal is canceled\n\
uint8 RECALLED        = 8   # The goal received a cancel request before it started executing\n\
                            #    and was successfully cancelled (Terminal State)\n\
uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be\n\
                            #    sent over the wire by an action server\n\
\n\
#Allow for the user to associate a string with GoalStatus for debugging\n\
string text\n\
\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/PickupResult\n\
# The overall result of the pickup attempt\n\
ManipulationResult manipulation_result\n\
\n\
# The performed grasp, if attempt was successful\n\
Grasp grasp\n\
\n\
# the complete list of attempted grasp, in the order in which they have been attempted\n\
# the successful one should be the last one in this list\n\
Grasp[] attempted_grasps\n\
\n\
# the outcomes of the attempted grasps, in the same order as attempted_grasps\n\
GraspResult[] attempted_grasp_results\n\
================================================================================\n\
MSG: object_manipulation_msgs/ManipulationResult\n\
# Result codes for manipulation tasks\n\
\n\
# task completed as expected\n\
# generally means you can proceed as planned\n\
int32 SUCCESS = 1\n\
\n\
# task not possible (e.g. out of reach or obstacles in the way)\n\
# generally means that the world was not disturbed, so you can try another task\n\
int32 UNFEASIBLE = -1\n\
\n\
# task was thought possible, but failed due to unexpected events during execution\n\
# it is likely that the world was disturbed, so you are encouraged to refresh\n\
# your sensed world model before proceeding to another task\n\
int32 FAILED = -2\n\
\n\
# a lower level error prevented task completion (e.g. joint controller not responding)\n\
# generally requires human attention\n\
int32 ERROR = -3\n\
\n\
# means that at some point during execution we ended up in a state that the collision-aware\n\
# arm navigation module will not move out of. The world was likely not disturbed, but you \n\
# probably need a new collision map to move the arm out of the stuck position\n\
int32 ARM_MOVEMENT_PREVENTED = -4\n\
\n\
# specific to grasp actions\n\
# the object was grasped successfully, but the lift attempt could not achieve the minimum lift distance requested\n\
# it is likely that the collision environment will see collisions between the hand/object and the support surface\n\
int32 LIFT_FAILED = -5\n\
\n\
# specific to place actions\n\
# the object was placed successfully, but the retreat attempt could not achieve the minimum retreat distance requested\n\
# it is likely that the collision environment will see collisions between the hand and the object\n\
int32 RETREAT_FAILED = -6\n\
\n\
# indicates that somewhere along the line a human said \"wait, stop, this is bad, go back and do something else\"\n\
int32 CANCELLED = -7\n\
\n\
# the actual value of this error code\n\
int32 value\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/GraspResult\n\
int32 SUCCESS = 1\n\
int32 GRASP_OUT_OF_REACH = 2\n\
int32 GRASP_IN_COLLISION = 3\n\
int32 GRASP_UNFEASIBLE = 4\n\
int32 PREGRASP_OUT_OF_REACH = 5\n\
int32 PREGRASP_IN_COLLISION = 6\n\
int32 PREGRASP_UNFEASIBLE = 7\n\
int32 LIFT_OUT_OF_REACH = 8\n\
int32 LIFT_IN_COLLISION = 9\n\
int32 LIFT_UNFEASIBLE = 10\n\
int32 MOVE_ARM_FAILED = 11\n\
int32 GRASP_FAILED = 12\n\
int32 LIFT_FAILED = 13\n\
int32 RETREAT_FAILED = 14\n\
int32 result_code\n\
\n\
# whether the state of the world was disturbed by this attempt. generally, this flag\n\
# shows if another task can be attempted, or a new sensed world model is recommeded\n\
# before proceeding\n\
bool continuation_possible\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/PickupActionFeedback\n\
Header header\n\
actionlib_msgs/GoalStatus status\n\
PickupFeedback feedback\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/PickupFeedback\n\
# The number of the grasp currently being attempted\n\
int32 current_grasp\n\
\n\
# The total number of grasps that will be attempted\n\
int32 total_grasps\n\
\n\
\n\
\n\
"; }
public:
  ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }

  ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }

  ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
  {
    ros::serialization::OStream stream(write_ptr, 1000000000);
    ros::serialization::serialize(stream, action_goal);
    ros::serialization::serialize(stream, action_result);
    ros::serialization::serialize(stream, action_feedback);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
  {
    ros::serialization::IStream stream(read_ptr, 1000000000);
    ros::serialization::deserialize(stream, action_goal);
    ros::serialization::deserialize(stream, action_result);
    ros::serialization::deserialize(stream, action_feedback);
    return stream.getData();
  }

  ROS_DEPRECATED virtual uint32_t serializationLength() const
  {
    uint32_t size = 0;
    size += ros::serialization::serializationLength(action_goal);
    size += ros::serialization::serializationLength(action_result);
    size += ros::serialization::serializationLength(action_feedback);
    return size;
  }

  typedef boost::shared_ptr< ::object_manipulation_msgs::PickupAction_<ContainerAllocator> > Ptr;
  typedef boost::shared_ptr< ::object_manipulation_msgs::PickupAction_<ContainerAllocator>  const> ConstPtr;
}; // struct PickupAction
typedef  ::object_manipulation_msgs::PickupAction_<std::allocator<void> > PickupAction;

typedef boost::shared_ptr< ::object_manipulation_msgs::PickupAction> PickupActionPtr;
typedef boost::shared_ptr< ::object_manipulation_msgs::PickupAction const> PickupActionConstPtr;


template<typename ContainerAllocator>
std::ostream& operator<<(std::ostream& s, const  ::object_manipulation_msgs::PickupAction_<ContainerAllocator> & v)
{
  ros::message_operations::Printer< ::object_manipulation_msgs::PickupAction_<ContainerAllocator> >::stream(s, "", v);
  return s;}

} // namespace object_manipulation_msgs

namespace ros
{
namespace message_traits
{
template<class ContainerAllocator>
struct MD5Sum< ::object_manipulation_msgs::PickupAction_<ContainerAllocator> > {
  static const char* value() 
  {
    return "4c4251571eb6b9f4c166c8e6a30f33ee";
  }

  static const char* value(const  ::object_manipulation_msgs::PickupAction_<ContainerAllocator> &) { return value(); } 
  static const uint64_t static_value1 = 0x4c4251571eb6b9f4ULL;
  static const uint64_t static_value2 = 0xc166c8e6a30f33eeULL;
};

template<class ContainerAllocator>
struct DataType< ::object_manipulation_msgs::PickupAction_<ContainerAllocator> > {
  static const char* value() 
  {
    return "object_manipulation_msgs/PickupAction";
  }

  static const char* value(const  ::object_manipulation_msgs::PickupAction_<ContainerAllocator> &) { return value(); } 
};

template<class ContainerAllocator>
struct Definition< ::object_manipulation_msgs::PickupAction_<ContainerAllocator> > {
  static const char* value() 
  {
    return "PickupActionGoal action_goal\n\
PickupActionResult action_result\n\
PickupActionFeedback action_feedback\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/PickupActionGoal\n\
Header header\n\
actionlib_msgs/GoalID goal_id\n\
PickupGoal goal\n\
\n\
================================================================================\n\
MSG: std_msgs/Header\n\
# Standard metadata for higher-level stamped data types.\n\
# This is generally used to communicate timestamped data \n\
# in a particular coordinate frame.\n\
# \n\
# sequence ID: consecutively increasing ID \n\
uint32 seq\n\
#Two-integer timestamp that is expressed as:\n\
# * stamp.secs: seconds (stamp_secs) since epoch\n\
# * stamp.nsecs: nanoseconds since stamp_secs\n\
# time-handling sugar is provided by the client library\n\
time stamp\n\
#Frame this data is associated with\n\
# 0: no frame\n\
# 1: global frame\n\
string frame_id\n\
\n\
================================================================================\n\
MSG: actionlib_msgs/GoalID\n\
# The stamp should store the time at which this goal was requested.\n\
# It is used by an action server when it tries to preempt all\n\
# goals that were requested before a certain time\n\
time stamp\n\
\n\
# The id provides a way to associate feedback and\n\
# result message with specific goal requests. The id\n\
# specified must be unique.\n\
string id\n\
\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/PickupGoal\n\
# An action for picking up an object\n\
\n\
# which arm to be used for grasping\n\
string arm_name\n\
\n\
# the object to be grasped\n\
GraspableObject target\n\
\n\
# a list of grasps to be used\n\
# if empty, the grasp executive will call one of its own planners\n\
Grasp[] desired_grasps\n\
\n\
# how far the pre-grasp should ideally be away from the grasp\n\
float32 desired_approach_distance\n\
\n\
# how much distance between pre-grasp and grasp must actually be feasible \n\
# for the grasp not to be rejected\n\
float32 min_approach_distance\n\
\n\
# how the object should be lifted after the grasp\n\
# the frame_id that this lift is specified in MUST be either the robot_frame \n\
# or the gripper_frame specified in your hand description file\n\
GripperTranslation lift\n\
\n\
# the name that the target object has in the collision map\n\
# can be left empty if no name is available\n\
string collision_object_name\n\
\n\
# the name that the support surface (e.g. table) has in the collision map\n\
# can be left empty if no name is available\n\
string collision_support_surface_name\n\
\n\
# whether collisions between the gripper and the support surface should be acceptable\n\
# during move from pre-grasp to grasp and during lift. Collisions when moving to the\n\
# pre-grasp location are still not allowed even if this is set to true.\n\
bool allow_gripper_support_collision\n\
\n\
# whether reactive grasp execution using tactile sensors should be used\n\
bool use_reactive_execution\n\
\n\
# whether reactive object lifting based on tactile sensors should be used\n\
bool use_reactive_lift\n\
\n\
# OPTIONAL (These will not have to be filled out most of the time)\n\
# constraints to be imposed on every point in the motion of the arm\n\
motion_planning_msgs/Constraints path_constraints\n\
\n\
# OPTIONAL (These will not have to be filled out most of the time)\n\
# additional collision operations to be used for every arm movement performed\n\
# during grasping. Note that these will be added on top of (and thus overide) other \n\
# collision operations that the grasping pipeline deems necessary. Should be used\n\
# with care and only if special behaviors are desired\n\
motion_planning_msgs/OrderedCollisionOperations additional_collision_operations\n\
\n\
# OPTIONAL (These will not have to be filled out most of the time)\n\
# additional link paddings to be used for every arm movement performed\n\
# during grasping. Note that these will be added on top of (and thus overide) other \n\
# link paddings that the grasping pipeline deems necessary. Should be used\n\
# with care and only if special behaviors are desired\n\
motion_planning_msgs/LinkPadding[] additional_link_padding\n\
================================================================================\n\
MSG: object_manipulation_msgs/GraspableObject\n\
# an object that the object_manipulator can work on\n\
\n\
# a graspable object can be represented in multiple ways. This message\n\
# can contain all of them. Which one is actually used is up to the receiver\n\
# of this message. When adding new representations, one must be careful that\n\
# they have reasonable lightweight defaults indicating that that particular\n\
# representation is not available.\n\
\n\
# the tf frame to be used as a reference frame when combining information from\n\
# the different representations below\n\
string reference_frame_id\n\
\n\
# potential recognition results from a database of models\n\
# all poses are relative to the object reference pose\n\
household_objects_database_msgs/DatabaseModelPose[] potential_models\n\
\n\
# the point cloud itself\n\
sensor_msgs/PointCloud cluster\n\
\n\
# a region of a PointCloud2 of interest\n\
object_manipulation_msgs/SceneRegion region\n\
\n\
\n\
================================================================================\n\
MSG: household_objects_database_msgs/DatabaseModelPose\n\
# Informs that a specific model from the Model Database has been \n\
# identified at a certain location\n\
\n\
# the database id of the model\n\
int32 model_id\n\
\n\
# the pose that it can be found in\n\
geometry_msgs/PoseStamped pose\n\
\n\
# a measure of the confidence level in this detection result\n\
float32 confidence\n\
================================================================================\n\
MSG: geometry_msgs/PoseStamped\n\
# A Pose with reference coordinate frame and timestamp\n\
Header header\n\
Pose pose\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Pose\n\
# A representation of pose in free space, composed of postion and orientation. \n\
Point position\n\
Quaternion orientation\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point\n\
# This contains the position of a point in free space\n\
float64 x\n\
float64 y\n\
float64 z\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Quaternion\n\
# This represents an orientation in free space in quaternion form.\n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
float64 w\n\
\n\
================================================================================\n\
MSG: sensor_msgs/PointCloud\n\
# This message holds a collection of 3d points, plus optional additional\n\
# information about each point.\n\
\n\
# Time of sensor data acquisition, coordinate frame ID.\n\
Header header\n\
\n\
# Array of 3d points. Each Point32 should be interpreted as a 3d point\n\
# in the frame given in the header.\n\
geometry_msgs/Point32[] points\n\
\n\
# Each channel should have the same number of elements as points array,\n\
# and the data in each channel should correspond 1:1 with each point.\n\
# Channel names in common practice are listed in ChannelFloat32.msg.\n\
ChannelFloat32[] channels\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Point32\n\
# This contains the position of a point in free space(with 32 bits of precision).\n\
# It is recommeded to use Point wherever possible instead of Point32.  \n\
# \n\
# This recommendation is to promote interoperability.  \n\
#\n\
# This message is designed to take up less space when sending\n\
# lots of points at once, as in the case of a PointCloud.  \n\
\n\
float32 x\n\
float32 y\n\
float32 z\n\
================================================================================\n\
MSG: sensor_msgs/ChannelFloat32\n\
# This message is used by the PointCloud message to hold optional data\n\
# associated with each point in the cloud. The length of the values\n\
# array should be the same as the length of the points array in the\n\
# PointCloud, and each value should be associated with the corresponding\n\
# point.\n\
\n\
# Channel names in existing practice include:\n\
#   \"u\", \"v\" - row and column (respectively) in the left stereo image.\n\
#              This is opposite to usual conventions but remains for\n\
#              historical reasons. The newer PointCloud2 message has no\n\
#              such problem.\n\
#   \"rgb\" - For point clouds produced by color stereo cameras. uint8\n\
#           (R,G,B) values packed into the least significant 24 bits,\n\
#           in order.\n\
#   \"intensity\" - laser or pixel intensity.\n\
#   \"distance\"\n\
\n\
# The channel name should give semantics of the channel (e.g.\n\
# \"intensity\" instead of \"value\").\n\
string name\n\
\n\
# The values array should be 1-1 with the elements of the associated\n\
# PointCloud.\n\
float32[] values\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/SceneRegion\n\
# Point cloud\n\
sensor_msgs/PointCloud2 cloud\n\
\n\
# Indices for the region of interest\n\
int32[] mask\n\
\n\
# One of the corresponding 2D images, if applicable\n\
sensor_msgs/Image image\n\
\n\
# The disparity image, if applicable\n\
sensor_msgs/Image disparity_image\n\
\n\
# Camera info for the camera that took the image\n\
sensor_msgs/CameraInfo cam_info\n\
\n\
================================================================================\n\
MSG: sensor_msgs/PointCloud2\n\
# This message holds a collection of N-dimensional points, which may\n\
# contain additional information such as normals, intensity, etc. The\n\
# point data is stored as a binary blob, its layout described by the\n\
# contents of the \"fields\" array.\n\
\n\
# The point cloud data may be organized 2d (image-like) or 1d\n\
# (unordered). Point clouds organized as 2d images may be produced by\n\
# camera depth sensors such as stereo or time-of-flight.\n\
\n\
# Time of sensor data acquisition, and the coordinate frame ID (for 3d\n\
# points).\n\
Header header\n\
\n\
# 2D structure of the point cloud. If the cloud is unordered, height is\n\
# 1 and width is the length of the point cloud.\n\
uint32 height\n\
uint32 width\n\
\n\
# Describes the channels and their layout in the binary data blob.\n\
PointField[] fields\n\
\n\
bool    is_bigendian # Is this data bigendian?\n\
uint32  point_step   # Length of a point in bytes\n\
uint32  row_step     # Length of a row in bytes\n\
uint8[] data         # Actual point data, size is (row_step*height)\n\
\n\
bool is_dense        # True if there are no invalid points\n\
\n\
================================================================================\n\
MSG: sensor_msgs/PointField\n\
# This message holds the description of one point entry in the\n\
# PointCloud2 message format.\n\
uint8 INT8    = 1\n\
uint8 UINT8   = 2\n\
uint8 INT16   = 3\n\
uint8 UINT16  = 4\n\
uint8 INT32   = 5\n\
uint8 UINT32  = 6\n\
uint8 FLOAT32 = 7\n\
uint8 FLOAT64 = 8\n\
\n\
string name      # Name of field\n\
uint32 offset    # Offset from start of point struct\n\
uint8  datatype  # Datatype enumeration, see above\n\
uint32 count     # How many elements in the field\n\
\n\
================================================================================\n\
MSG: sensor_msgs/Image\n\
# This message contains an uncompressed image\n\
# (0, 0) is at top-left corner of image\n\
#\n\
\n\
Header header        # Header timestamp should be acquisition time of image\n\
                     # Header frame_id should be optical frame of camera\n\
                     # origin of frame should be optical center of cameara\n\
                     # +x should point to the right in the image\n\
                     # +y should point down in the image\n\
                     # +z should point into to plane of the image\n\
                     # If the frame_id here and the frame_id of the CameraInfo\n\
                     # message associated with the image conflict\n\
                     # the behavior is undefined\n\
\n\
uint32 height         # image height, that is, number of rows\n\
uint32 width          # image width, that is, number of columns\n\
\n\
# The legal values for encoding are in file src/image_encodings.cpp\n\
# If you want to standardize a new string format, join\n\
# ros-users@lists.sourceforge.net and send an email proposing a new encoding.\n\
\n\
string encoding       # Encoding of pixels -- channel meaning, ordering, size\n\
                      # taken from the list of strings in src/image_encodings.cpp\n\
\n\
uint8 is_bigendian    # is this data bigendian?\n\
uint32 step           # Full row length in bytes\n\
uint8[] data          # actual matrix data, size is (step * rows)\n\
\n\
================================================================================\n\
MSG: sensor_msgs/CameraInfo\n\
# This message defines meta information for a camera. It should be in a\n\
# camera namespace on topic \"camera_info\" and accompanied by up to five\n\
# image topics named:\n\
#\n\
#   image_raw - raw data from the camera driver, possibly Bayer encoded\n\
#   image            - monochrome, distorted\n\
#   image_color      - color, distorted\n\
#   image_rect       - monochrome, rectified\n\
#   image_rect_color - color, rectified\n\
#\n\
# The image_pipeline contains packages (image_proc, stereo_image_proc)\n\
# for producing the four processed image topics from image_raw and\n\
# camera_info. The meaning of the camera parameters are described in\n\
# detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.\n\
#\n\
# The image_geometry package provides a user-friendly interface to\n\
# common operations using this meta information. If you want to, e.g.,\n\
# project a 3d point into image coordinates, we strongly recommend\n\
# using image_geometry.\n\
#\n\
# If the camera is uncalibrated, the matrices D, K, R, P should be left\n\
# zeroed out. In particular, clients may assume that K[0] == 0.0\n\
# indicates an uncalibrated camera.\n\
\n\
#######################################################################\n\
#                     Image acquisition info                          #\n\
#######################################################################\n\
\n\
# Time of image acquisition, camera coordinate frame ID\n\
Header header    # Header timestamp should be acquisition time of image\n\
                 # Header frame_id should be optical frame of camera\n\
                 # origin of frame should be optical center of camera\n\
                 # +x should point to the right in the image\n\
                 # +y should point down in the image\n\
                 # +z should point into the plane of the image\n\
\n\
\n\
#######################################################################\n\
#                      Calibration Parameters                         #\n\
#######################################################################\n\
# These are fixed during camera calibration. Their values will be the #\n\
# same in all messages until the camera is recalibrated. Note that    #\n\
# self-calibrating systems may \"recalibrate\" frequently.              #\n\
#                                                                     #\n\
# The internal parameters can be used to warp a raw (distorted) image #\n\
# to:                                                                 #\n\
#   1. An undistorted image (requires D and K)                        #\n\
#   2. A rectified image (requires D, K, R)                           #\n\
# The projection matrix P projects 3D points into the rectified image.#\n\
#######################################################################\n\
\n\
# The image dimensions with which the camera was calibrated. Normally\n\
# this will be the full camera resolution in pixels.\n\
uint32 height\n\
uint32 width\n\
\n\
# The distortion model used. Supported models are listed in\n\
# sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a\n\
# simple model of radial and tangential distortion - is sufficent.\n\
string distortion_model\n\
\n\
# The distortion parameters, size depending on the distortion model.\n\
# For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).\n\
float64[] D\n\
\n\
# Intrinsic camera matrix for the raw (distorted) images.\n\
#     [fx  0 cx]\n\
# K = [ 0 fy cy]\n\
#     [ 0  0  1]\n\
# Projects 3D points in the camera coordinate frame to 2D pixel\n\
# coordinates using the focal lengths (fx, fy) and principal point\n\
# (cx, cy).\n\
float64[9]  K # 3x3 row-major matrix\n\
\n\
# Rectification matrix (stereo cameras only)\n\
# A rotation matrix aligning the camera coordinate system to the ideal\n\
# stereo image plane so that epipolar lines in both stereo images are\n\
# parallel.\n\
float64[9]  R # 3x3 row-major matrix\n\
\n\
# Projection/camera matrix\n\
#     [fx'  0  cx' Tx]\n\
# P = [ 0  fy' cy' Ty]\n\
#     [ 0   0   1   0]\n\
# By convention, this matrix specifies the intrinsic (camera) matrix\n\
#  of the processed (rectified) image. That is, the left 3x3 portion\n\
#  is the normal camera intrinsic matrix for the rectified image.\n\
# It projects 3D points in the camera coordinate frame to 2D pixel\n\
#  coordinates using the focal lengths (fx', fy') and principal point\n\
#  (cx', cy') - these may differ from the values in K.\n\
# For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will\n\
#  also have R = the identity and P[1:3,1:3] = K.\n\
# For a stereo pair, the fourth column [Tx Ty 0]' is related to the\n\
#  position of the optical center of the second camera in the first\n\
#  camera's frame. We assume Tz = 0 so both cameras are in the same\n\
#  stereo image plane. The first camera always has Tx = Ty = 0. For\n\
#  the right (second) camera of a horizontal stereo pair, Ty = 0 and\n\
#  Tx = -fx' * B, where B is the baseline between the cameras.\n\
# Given a 3D point [X Y Z]', the projection (x, y) of the point onto\n\
#  the rectified image is given by:\n\
#  [u v w]' = P * [X Y Z 1]'\n\
#         x = u / w\n\
#         y = v / w\n\
#  This holds for both images of a stereo pair.\n\
float64[12] P # 3x4 row-major matrix\n\
\n\
\n\
#######################################################################\n\
#                      Operational Parameters                         #\n\
#######################################################################\n\
# These define the image region actually captured by the camera       #\n\
# driver. Although they affect the geometry of the output image, they #\n\
# may be changed freely without recalibrating the camera.             #\n\
#######################################################################\n\
\n\
# Binning refers here to any camera setting which combines rectangular\n\
#  neighborhoods of pixels into larger \"super-pixels.\" It reduces the\n\
#  resolution of the output image to\n\
#  (width / binning_x) x (height / binning_y).\n\
# The default values binning_x = binning_y = 0 is considered the same\n\
#  as binning_x = binning_y = 1 (no subsampling).\n\
uint32 binning_x\n\
uint32 binning_y\n\
\n\
# Region of interest (subwindow of full camera resolution), given in\n\
#  full resolution (unbinned) image coordinates. A particular ROI\n\
#  always denotes the same window of pixels on the camera sensor,\n\
#  regardless of binning settings.\n\
# The default setting of roi (all values 0) is considered the same as\n\
#  full resolution (roi.width = width, roi.height = height).\n\
RegionOfInterest roi\n\
\n\
================================================================================\n\
MSG: sensor_msgs/RegionOfInterest\n\
# This message is used to specify a region of interest within an image.\n\
#\n\
# When used to specify the ROI setting of the camera when the image was\n\
# taken, the height and width fields should either match the height and\n\
# width fields for the associated image; or height = width = 0\n\
# indicates that the full resolution image was captured.\n\
\n\
uint32 x_offset  # Leftmost pixel of the ROI\n\
                 # (0 if the ROI includes the left edge of the image)\n\
uint32 y_offset  # Topmost pixel of the ROI\n\
                 # (0 if the ROI includes the top edge of the image)\n\
uint32 height    # Height of ROI\n\
uint32 width     # Width of ROI\n\
\n\
# True if a distinct rectified ROI should be calculated from the \"raw\"\n\
# ROI in this message. Typically this should be False if the full image\n\
# is captured (ROI not used), and True if a subwindow is captured (ROI\n\
# used).\n\
bool do_rectify\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/Grasp\n\
\n\
# The internal posture of the hand for the pre-grasp\n\
# only positions are used\n\
sensor_msgs/JointState pre_grasp_posture\n\
\n\
# The internal posture of the hand for the grasp\n\
# positions and efforts are used\n\
sensor_msgs/JointState grasp_posture\n\
\n\
# The position of the end-effector for the grasp relative to the object\n\
geometry_msgs/Pose grasp_pose\n\
\n\
# The estimated probability of success for this grasp\n\
float64 success_probability\n\
\n\
# Debug flag to indicate that this grasp would be the best in its cluster\n\
bool cluster_rep\n\
================================================================================\n\
MSG: sensor_msgs/JointState\n\
# This is a message that holds data to describe the state of a set of torque controlled joints. \n\
#\n\
# The state of each joint (revolute or prismatic) is defined by:\n\
#  * the position of the joint (rad or m),\n\
#  * the velocity of the joint (rad/s or m/s) and \n\
#  * the effort that is applied in the joint (Nm or N).\n\
#\n\
# Each joint is uniquely identified by its name\n\
# The header specifies the time at which the joint states were recorded. All the joint states\n\
# in one message have to be recorded at the same time.\n\
#\n\
# This message consists of a multiple arrays, one for each part of the joint state. \n\
# The goal is to make each of the fields optional. When e.g. your joints have no\n\
# effort associated with them, you can leave the effort array empty. \n\
#\n\
# All arrays in this message should have the same size, or be empty.\n\
# This is the only way to uniquely associate the joint name with the correct\n\
# states.\n\
\n\
\n\
Header header\n\
\n\
string[] name\n\
float64[] position\n\
float64[] velocity\n\
float64[] effort\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/GripperTranslation\n\
# defines a translation for the gripper, used in pickup or place tasks\n\
# for example for lifting an object off a table or approaching the table for placing\n\
\n\
# the direction of the translation\n\
geometry_msgs/Vector3Stamped direction\n\
\n\
# the desired translation distance\n\
float32 desired_distance\n\
\n\
# the min distance that must be considered feasible before the\n\
# grasp is even attempted\n\
float32 min_distance\n\
================================================================================\n\
MSG: geometry_msgs/Vector3Stamped\n\
# This represents a Vector3 with reference coordinate frame and timestamp\n\
Header header\n\
Vector3 vector\n\
\n\
================================================================================\n\
MSG: geometry_msgs/Vector3\n\
# This represents a vector in free space. \n\
\n\
float64 x\n\
float64 y\n\
float64 z\n\
================================================================================\n\
MSG: motion_planning_msgs/Constraints\n\
# This message contains a list of motion planning constraints.\n\
\n\
motion_planning_msgs/JointConstraint[] joint_constraints\n\
motion_planning_msgs/PositionConstraint[] position_constraints\n\
motion_planning_msgs/OrientationConstraint[] orientation_constraints\n\
motion_planning_msgs/VisibilityConstraint[] visibility_constraints\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/JointConstraint\n\
# Constrain the position of a joint to be within a certain bound\n\
string joint_name\n\
\n\
# the bound to be achieved is [position - tolerance_below, position + tolerance_above]\n\
float64 position\n\
float64 tolerance_above\n\
float64 tolerance_below\n\
\n\
# A weighting factor for this constraint\n\
float64 weight\n\
================================================================================\n\
MSG: motion_planning_msgs/PositionConstraint\n\
# This message contains the definition of a position constraint.\n\
Header header\n\
\n\
# The robot link this constraint refers to\n\
string link_name\n\
\n\
# The offset (in the link frame) for the target point on the link we are planning for\n\
geometry_msgs/Point target_point_offset\n\
\n\
# The nominal/target position for the point we are planning for\n\
geometry_msgs/Point position\n\
\n\
# The shape of the bounded region that constrains the position of the end-effector\n\
# This region is always centered at the position defined above\n\
geometric_shapes_msgs/Shape constraint_region_shape\n\
\n\
# The orientation of the bounded region that constrains the position of the end-effector. \n\
# This allows the specification of non-axis aligned constraints\n\
geometry_msgs/Quaternion constraint_region_orientation\n\
\n\
# Constraint weighting factor - a weight for this constraint\n\
float64 weight\n\
================================================================================\n\
MSG: geometric_shapes_msgs/Shape\n\
byte SPHERE=0\n\
byte BOX=1\n\
byte CYLINDER=2\n\
byte MESH=3\n\
\n\
byte type\n\
\n\
\n\
#### define sphere, box, cylinder ####\n\
# the origin of each shape is considered at the shape's center\n\
\n\
# for sphere\n\
# radius := dimensions[0]\n\
\n\
# for cylinder\n\
# radius := dimensions[0]\n\
# length := dimensions[1]\n\
# the length is along the Z axis\n\
\n\
# for box\n\
# size_x := dimensions[0]\n\
# size_y := dimensions[1]\n\
# size_z := dimensions[2]\n\
float64[] dimensions\n\
\n\
\n\
#### define mesh ####\n\
\n\
# list of triangles; triangle k is defined by tre vertices located\n\
# at indices triangles[3k], triangles[3k+1], triangles[3k+2]\n\
int32[] triangles\n\
geometry_msgs/Point[] vertices\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/OrientationConstraint\n\
# This message contains the definition of an orientation constraint.\n\
Header header\n\
\n\
# The robot link this constraint refers to\n\
string link_name\n\
\n\
# The type of the constraint\n\
int32 type\n\
int32 LINK_FRAME=0\n\
int32 HEADER_FRAME=1\n\
\n\
# The desired orientation of the robot link specified as a quaternion\n\
geometry_msgs/Quaternion orientation\n\
\n\
# optional RPY error tolerances specified if \n\
float64 absolute_roll_tolerance\n\
float64 absolute_pitch_tolerance\n\
float64 absolute_yaw_tolerance\n\
\n\
# Constraint weighting factor - a weight for this constraint\n\
float64 weight\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/VisibilityConstraint\n\
# This message contains the definition of a visibility constraint.\n\
Header header\n\
\n\
# The point stamped target that needs to be kept within view of the sensor\n\
geometry_msgs/PointStamped target\n\
\n\
# The local pose of the frame in which visibility is to be maintained\n\
# The frame id should represent the robot link to which the sensor is attached\n\
# The visual axis of the sensor is assumed to be along the X axis of this frame\n\
geometry_msgs/PoseStamped sensor_pose\n\
\n\
# The deviation (in radians) that will be tolerated\n\
# Constraint error will be measured as the solid angle between the \n\
# X axis of the frame defined above and the vector between the origin \n\
# of the frame defined above and the target location\n\
float64 absolute_tolerance\n\
\n\
\n\
================================================================================\n\
MSG: geometry_msgs/PointStamped\n\
# This represents a Point with reference coordinate frame and timestamp\n\
Header header\n\
Point point\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/OrderedCollisionOperations\n\
# A set of collision operations that will be performed in the order they are specified\n\
CollisionOperation[] collision_operations\n\
================================================================================\n\
MSG: motion_planning_msgs/CollisionOperation\n\
# A definition of a collision operation\n\
# E.g. (\"gripper\",COLLISION_SET_ALL,ENABLE) will enable collisions \n\
# between the gripper and all objects in the collision space\n\
\n\
string object1\n\
string object2\n\
string COLLISION_SET_ALL=\"all\"\n\
string COLLISION_SET_OBJECTS=\"objects\"\n\
string COLLISION_SET_ATTACHED_OBJECTS=\"attached\"\n\
\n\
# The penetration distance to which collisions are allowed. This is 0.0 by default.\n\
float64 penetration_distance\n\
\n\
# Flag that determines whether collisions will be enabled or disabled for the pair of objects specified above\n\
int32 operation\n\
int32 DISABLE=0\n\
int32 ENABLE=1\n\
\n\
================================================================================\n\
MSG: motion_planning_msgs/LinkPadding\n\
#name for the link\n\
string link_name\n\
\n\
# padding to apply to the link\n\
float64 padding\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/PickupActionResult\n\
Header header\n\
actionlib_msgs/GoalStatus status\n\
PickupResult result\n\
\n\
================================================================================\n\
MSG: actionlib_msgs/GoalStatus\n\
GoalID goal_id\n\
uint8 status\n\
uint8 PENDING         = 0   # The goal has yet to be processed by the action server\n\
uint8 ACTIVE          = 1   # The goal is currently being processed by the action server\n\
uint8 PREEMPTED       = 2   # The goal received a cancel request after it started executing\n\
                            #   and has since completed its execution (Terminal State)\n\
uint8 SUCCEEDED       = 3   # The goal was achieved successfully by the action server (Terminal State)\n\
uint8 ABORTED         = 4   # The goal was aborted during execution by the action server due\n\
                            #    to some failure (Terminal State)\n\
uint8 REJECTED        = 5   # The goal was rejected by the action server without being processed,\n\
                            #    because the goal was unattainable or invalid (Terminal State)\n\
uint8 PREEMPTING      = 6   # The goal received a cancel request after it started executing\n\
                            #    and has not yet completed execution\n\
uint8 RECALLING       = 7   # The goal received a cancel request before it started executing,\n\
                            #    but the action server has not yet confirmed that the goal is canceled\n\
uint8 RECALLED        = 8   # The goal received a cancel request before it started executing\n\
                            #    and was successfully cancelled (Terminal State)\n\
uint8 LOST            = 9   # An action client can determine that a goal is LOST. This should not be\n\
                            #    sent over the wire by an action server\n\
\n\
#Allow for the user to associate a string with GoalStatus for debugging\n\
string text\n\
\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/PickupResult\n\
# The overall result of the pickup attempt\n\
ManipulationResult manipulation_result\n\
\n\
# The performed grasp, if attempt was successful\n\
Grasp grasp\n\
\n\
# the complete list of attempted grasp, in the order in which they have been attempted\n\
# the successful one should be the last one in this list\n\
Grasp[] attempted_grasps\n\
\n\
# the outcomes of the attempted grasps, in the same order as attempted_grasps\n\
GraspResult[] attempted_grasp_results\n\
================================================================================\n\
MSG: object_manipulation_msgs/ManipulationResult\n\
# Result codes for manipulation tasks\n\
\n\
# task completed as expected\n\
# generally means you can proceed as planned\n\
int32 SUCCESS = 1\n\
\n\
# task not possible (e.g. out of reach or obstacles in the way)\n\
# generally means that the world was not disturbed, so you can try another task\n\
int32 UNFEASIBLE = -1\n\
\n\
# task was thought possible, but failed due to unexpected events during execution\n\
# it is likely that the world was disturbed, so you are encouraged to refresh\n\
# your sensed world model before proceeding to another task\n\
int32 FAILED = -2\n\
\n\
# a lower level error prevented task completion (e.g. joint controller not responding)\n\
# generally requires human attention\n\
int32 ERROR = -3\n\
\n\
# means that at some point during execution we ended up in a state that the collision-aware\n\
# arm navigation module will not move out of. The world was likely not disturbed, but you \n\
# probably need a new collision map to move the arm out of the stuck position\n\
int32 ARM_MOVEMENT_PREVENTED = -4\n\
\n\
# specific to grasp actions\n\
# the object was grasped successfully, but the lift attempt could not achieve the minimum lift distance requested\n\
# it is likely that the collision environment will see collisions between the hand/object and the support surface\n\
int32 LIFT_FAILED = -5\n\
\n\
# specific to place actions\n\
# the object was placed successfully, but the retreat attempt could not achieve the minimum retreat distance requested\n\
# it is likely that the collision environment will see collisions between the hand and the object\n\
int32 RETREAT_FAILED = -6\n\
\n\
# indicates that somewhere along the line a human said \"wait, stop, this is bad, go back and do something else\"\n\
int32 CANCELLED = -7\n\
\n\
# the actual value of this error code\n\
int32 value\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/GraspResult\n\
int32 SUCCESS = 1\n\
int32 GRASP_OUT_OF_REACH = 2\n\
int32 GRASP_IN_COLLISION = 3\n\
int32 GRASP_UNFEASIBLE = 4\n\
int32 PREGRASP_OUT_OF_REACH = 5\n\
int32 PREGRASP_IN_COLLISION = 6\n\
int32 PREGRASP_UNFEASIBLE = 7\n\
int32 LIFT_OUT_OF_REACH = 8\n\
int32 LIFT_IN_COLLISION = 9\n\
int32 LIFT_UNFEASIBLE = 10\n\
int32 MOVE_ARM_FAILED = 11\n\
int32 GRASP_FAILED = 12\n\
int32 LIFT_FAILED = 13\n\
int32 RETREAT_FAILED = 14\n\
int32 result_code\n\
\n\
# whether the state of the world was disturbed by this attempt. generally, this flag\n\
# shows if another task can be attempted, or a new sensed world model is recommeded\n\
# before proceeding\n\
bool continuation_possible\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/PickupActionFeedback\n\
Header header\n\
actionlib_msgs/GoalStatus status\n\
PickupFeedback feedback\n\
\n\
================================================================================\n\
MSG: object_manipulation_msgs/PickupFeedback\n\
# The number of the grasp currently being attempted\n\
int32 current_grasp\n\
\n\
# The total number of grasps that will be attempted\n\
int32 total_grasps\n\
\n\
\n\
\n\
";
  }

  static const char* value(const  ::object_manipulation_msgs::PickupAction_<ContainerAllocator> &) { return value(); } 
};

} // namespace message_traits
} // namespace ros

namespace ros
{
namespace serialization
{

template<class ContainerAllocator> struct Serializer< ::object_manipulation_msgs::PickupAction_<ContainerAllocator> >
{
  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
  {
    stream.next(m.action_goal);
    stream.next(m.action_result);
    stream.next(m.action_feedback);
  }

  ROS_DECLARE_ALLINONE_SERIALIZER;
}; // struct PickupAction_
} // namespace serialization
} // namespace ros

namespace ros
{
namespace message_operations
{

template<class ContainerAllocator>
struct Printer< ::object_manipulation_msgs::PickupAction_<ContainerAllocator> >
{
  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::object_manipulation_msgs::PickupAction_<ContainerAllocator> & v) 
  {
    s << indent << "action_goal: ";
s << std::endl;
    Printer< ::object_manipulation_msgs::PickupActionGoal_<ContainerAllocator> >::stream(s, indent + "  ", v.action_goal);
    s << indent << "action_result: ";
s << std::endl;
    Printer< ::object_manipulation_msgs::PickupActionResult_<ContainerAllocator> >::stream(s, indent + "  ", v.action_result);
    s << indent << "action_feedback: ";
s << std::endl;
    Printer< ::object_manipulation_msgs::PickupActionFeedback_<ContainerAllocator> >::stream(s, indent + "  ", v.action_feedback);
  }
};


} // namespace message_operations
} // namespace ros

#endif // OBJECT_MANIPULATION_MSGS_MESSAGE_PICKUPACTION_H

---

object_manipulation_msgs
Author(s): Matei Ciocarlie
autogenerated on Fri Jan 11 09:35:09 2013