00001 """autogenerated by genmsg_py from PR2GripperGrabAction.msg. Do not edit."""
00002 import roslib.message
00003 import struct
00004
00005 import roslib.rostime
00006 import actionlib_msgs.msg
00007 import pr2_gripper_sensor_msgs.msg
00008 import std_msgs.msg
00009
00010 class PR2GripperGrabAction(roslib.message.Message):
00011 _md5sum = "f467562414aabe5b90666be976b0c379"
00012 _type = "pr2_gripper_sensor_msgs/PR2GripperGrabAction"
00013 _has_header = False
00014 _full_text = """# ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00015
00016 PR2GripperGrabActionGoal action_goal
00017 PR2GripperGrabActionResult action_result
00018 PR2GripperGrabActionFeedback action_feedback
00019
00020 ================================================================================
00021 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabActionGoal
00022 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00023
00024 Header header
00025 actionlib_msgs/GoalID goal_id
00026 PR2GripperGrabGoal goal
00027
00028 ================================================================================
00029 MSG: std_msgs/Header
00030 # Standard metadata for higher-level stamped data types.
00031 # This is generally used to communicate timestamped data
00032 # in a particular coordinate frame.
00033 #
00034 # sequence ID: consecutively increasing ID
00035 uint32 seq
00036 #Two-integer timestamp that is expressed as:
00037 # * stamp.secs: seconds (stamp_secs) since epoch
00038 # * stamp.nsecs: nanoseconds since stamp_secs
00039 # time-handling sugar is provided by the client library
00040 time stamp
00041 #Frame this data is associated with
00042 # 0: no frame
00043 # 1: global frame
00044 string frame_id
00045
00046 ================================================================================
00047 MSG: actionlib_msgs/GoalID
00048 # The stamp should store the time at which this goal was requested.
00049 # It is used by an action server when it tries to preempt all
00050 # goals that were requested before a certain time
00051 time stamp
00052
00053 # The id provides a way to associate feedback and
00054 # result message with specific goal requests. The id
00055 # specified must be unique.
00056 string id
00057
00058
00059 ================================================================================
00060 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabGoal
00061 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00062 #goal
00063 PR2GripperGrabCommand command
00064
00065 ================================================================================
00066 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabCommand
00067 # The gain to use to evaluate how hard an object should be
00068 # grasped after it is contacted. This is based on hardness
00069 # estimation as outlined in TRO paper (see wiki).
00070 #
00071 # Try 0.03
00072 #
00073 # Units (N/(m/s^2))
00074 float64 hardness_gain
00075
00076 ================================================================================
00077 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabActionResult
00078 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00079
00080 Header header
00081 actionlib_msgs/GoalStatus status
00082 PR2GripperGrabResult result
00083
00084 ================================================================================
00085 MSG: actionlib_msgs/GoalStatus
00086 GoalID goal_id
00087 uint8 status
00088 uint8 PENDING = 0 # The goal has yet to be processed by the action server
00089 uint8 ACTIVE = 1 # The goal is currently being processed by the action server
00090 uint8 PREEMPTED = 2 # The goal received a cancel request after it started executing
00091 # and has since completed its execution (Terminal State)
00092 uint8 SUCCEEDED = 3 # The goal was achieved successfully by the action server (Terminal State)
00093 uint8 ABORTED = 4 # The goal was aborted during execution by the action server due
00094 # to some failure (Terminal State)
00095 uint8 REJECTED = 5 # The goal was rejected by the action server without being processed,
00096 # because the goal was unattainable or invalid (Terminal State)
00097 uint8 PREEMPTING = 6 # The goal received a cancel request after it started executing
00098 # and has not yet completed execution
00099 uint8 RECALLING = 7 # The goal received a cancel request before it started executing,
00100 # but the action server has not yet confirmed that the goal is canceled
00101 uint8 RECALLED = 8 # The goal received a cancel request before it started executing
00102 # and was successfully cancelled (Terminal State)
00103 uint8 LOST = 9 # An action client can determine that a goal is LOST. This should not be
00104 # sent over the wire by an action server
00105
00106 #Allow for the user to associate a string with GoalStatus for debugging
00107 string text
00108
00109
00110 ================================================================================
00111 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabResult
00112 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00113 #result
00114 PR2GripperGrabData data
00115
00116 ================================================================================
00117 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabData
00118 # the control state of our realtime controller
00119 PR2GripperSensorRTState rtstate
00120 ================================================================================
00121 MSG: pr2_gripper_sensor_msgs/PR2GripperSensorRTState
00122 # the control state of our realtime controller
00123 int8 realtime_controller_state
00124
00125 # predefined values to indicate our realtime_controller_state
00126 int8 DISABLED = 0
00127 int8 POSITION_SERVO = 3
00128 int8 FORCE_SERVO = 4
00129 int8 FIND_CONTACT = 5
00130 int8 SLIP_SERVO = 6
00131 ================================================================================
00132 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabActionFeedback
00133 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00134
00135 Header header
00136 actionlib_msgs/GoalStatus status
00137 PR2GripperGrabFeedback feedback
00138
00139 ================================================================================
00140 MSG: pr2_gripper_sensor_msgs/PR2GripperGrabFeedback
00141 # ====== DO NOT MODIFY! AUTOGENERATED FROM AN ACTION DEFINITION ======
00142
00143 #feedback
00144 PR2GripperGrabData data
00145
00146
00147 """
00148 __slots__ = ['action_goal','action_result','action_feedback']
00149 _slot_types = ['pr2_gripper_sensor_msgs/PR2GripperGrabActionGoal','pr2_gripper_sensor_msgs/PR2GripperGrabActionResult','pr2_gripper_sensor_msgs/PR2GripperGrabActionFeedback']
00150
00151 def __init__(self, *args, **kwds):
00152 """
00153 Constructor. Any message fields that are implicitly/explicitly
00154 set to None will be assigned a default value. The recommend
00155 use is keyword arguments as this is more robust to future message
00156 changes. You cannot mix in-order arguments and keyword arguments.
00157
00158 The available fields are:
00159 action_goal,action_result,action_feedback
00160
00161 @param args: complete set of field values, in .msg order
00162 @param kwds: use keyword arguments corresponding to message field names
00163 to set specific fields.
00164 """
00165 if args or kwds:
00166 super(PR2GripperGrabAction, self).__init__(*args, **kwds)
00167
00168 if self.action_goal is None:
00169 self.action_goal = pr2_gripper_sensor_msgs.msg.PR2GripperGrabActionGoal()
00170 if self.action_result is None:
00171 self.action_result = pr2_gripper_sensor_msgs.msg.PR2GripperGrabActionResult()
00172 if self.action_feedback is None:
00173 self.action_feedback = pr2_gripper_sensor_msgs.msg.PR2GripperGrabActionFeedback()
00174 else:
00175 self.action_goal = pr2_gripper_sensor_msgs.msg.PR2GripperGrabActionGoal()
00176 self.action_result = pr2_gripper_sensor_msgs.msg.PR2GripperGrabActionResult()
00177 self.action_feedback = pr2_gripper_sensor_msgs.msg.PR2GripperGrabActionFeedback()
00178
00179 def _get_types(self):
00180 """
00181 internal API method
00182 """
00183 return self._slot_types
00184
00185 def serialize(self, buff):
00186 """
00187 serialize message into buffer
00188 @param buff: buffer
00189 @type buff: StringIO
00190 """
00191 try:
00192 _x = self
00193 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00194 _x = self.action_goal.header.frame_id
00195 length = len(_x)
00196 buff.write(struct.pack('<I%ss'%length, length, _x))
00197 _x = self
00198 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00199 _x = self.action_goal.goal_id.id
00200 length = len(_x)
00201 buff.write(struct.pack('<I%ss'%length, length, _x))
00202 _x = self
00203 buff.write(_struct_d3I.pack(_x.action_goal.goal.command.hardness_gain, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00204 _x = self.action_result.header.frame_id
00205 length = len(_x)
00206 buff.write(struct.pack('<I%ss'%length, length, _x))
00207 _x = self
00208 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00209 _x = self.action_result.status.goal_id.id
00210 length = len(_x)
00211 buff.write(struct.pack('<I%ss'%length, length, _x))
00212 buff.write(_struct_B.pack(self.action_result.status.status))
00213 _x = self.action_result.status.text
00214 length = len(_x)
00215 buff.write(struct.pack('<I%ss'%length, length, _x))
00216 _x = self
00217 buff.write(_struct_b3I.pack(_x.action_result.result.data.rtstate.realtime_controller_state, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00218 _x = self.action_feedback.header.frame_id
00219 length = len(_x)
00220 buff.write(struct.pack('<I%ss'%length, length, _x))
00221 _x = self
00222 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00223 _x = self.action_feedback.status.goal_id.id
00224 length = len(_x)
00225 buff.write(struct.pack('<I%ss'%length, length, _x))
00226 buff.write(_struct_B.pack(self.action_feedback.status.status))
00227 _x = self.action_feedback.status.text
00228 length = len(_x)
00229 buff.write(struct.pack('<I%ss'%length, length, _x))
00230 buff.write(_struct_b.pack(self.action_feedback.feedback.data.rtstate.realtime_controller_state))
00231 except struct.error as se: self._check_types(se)
00232 except TypeError as te: self._check_types(te)
00233
00234 def deserialize(self, str):
00235 """
00236 unpack serialized message in str into this message instance
00237 @param str: byte array of serialized message
00238 @type str: str
00239 """
00240 try:
00241 if self.action_goal is None:
00242 self.action_goal = pr2_gripper_sensor_msgs.msg.PR2GripperGrabActionGoal()
00243 if self.action_result is None:
00244 self.action_result = pr2_gripper_sensor_msgs.msg.PR2GripperGrabActionResult()
00245 if self.action_feedback is None:
00246 self.action_feedback = pr2_gripper_sensor_msgs.msg.PR2GripperGrabActionFeedback()
00247 end = 0
00248 _x = self
00249 start = end
00250 end += 12
00251 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00252 start = end
00253 end += 4
00254 (length,) = _struct_I.unpack(str[start:end])
00255 start = end
00256 end += length
00257 self.action_goal.header.frame_id = str[start:end]
00258 _x = self
00259 start = end
00260 end += 8
00261 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00262 start = end
00263 end += 4
00264 (length,) = _struct_I.unpack(str[start:end])
00265 start = end
00266 end += length
00267 self.action_goal.goal_id.id = str[start:end]
00268 _x = self
00269 start = end
00270 end += 20
00271 (_x.action_goal.goal.command.hardness_gain, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_d3I.unpack(str[start:end])
00272 start = end
00273 end += 4
00274 (length,) = _struct_I.unpack(str[start:end])
00275 start = end
00276 end += length
00277 self.action_result.header.frame_id = str[start:end]
00278 _x = self
00279 start = end
00280 end += 8
00281 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00282 start = end
00283 end += 4
00284 (length,) = _struct_I.unpack(str[start:end])
00285 start = end
00286 end += length
00287 self.action_result.status.goal_id.id = str[start:end]
00288 start = end
00289 end += 1
00290 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00291 start = end
00292 end += 4
00293 (length,) = _struct_I.unpack(str[start:end])
00294 start = end
00295 end += length
00296 self.action_result.status.text = str[start:end]
00297 _x = self
00298 start = end
00299 end += 13
00300 (_x.action_result.result.data.rtstate.realtime_controller_state, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_b3I.unpack(str[start:end])
00301 start = end
00302 end += 4
00303 (length,) = _struct_I.unpack(str[start:end])
00304 start = end
00305 end += length
00306 self.action_feedback.header.frame_id = str[start:end]
00307 _x = self
00308 start = end
00309 end += 8
00310 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00311 start = end
00312 end += 4
00313 (length,) = _struct_I.unpack(str[start:end])
00314 start = end
00315 end += length
00316 self.action_feedback.status.goal_id.id = str[start:end]
00317 start = end
00318 end += 1
00319 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00320 start = end
00321 end += 4
00322 (length,) = _struct_I.unpack(str[start:end])
00323 start = end
00324 end += length
00325 self.action_feedback.status.text = str[start:end]
00326 start = end
00327 end += 1
00328 (self.action_feedback.feedback.data.rtstate.realtime_controller_state,) = _struct_b.unpack(str[start:end])
00329 return self
00330 except struct.error as e:
00331 raise roslib.message.DeserializationError(e)
00332
00333
00334 def serialize_numpy(self, buff, numpy):
00335 """
00336 serialize message with numpy array types into buffer
00337 @param buff: buffer
00338 @type buff: StringIO
00339 @param numpy: numpy python module
00340 @type numpy module
00341 """
00342 try:
00343 _x = self
00344 buff.write(_struct_3I.pack(_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs))
00345 _x = self.action_goal.header.frame_id
00346 length = len(_x)
00347 buff.write(struct.pack('<I%ss'%length, length, _x))
00348 _x = self
00349 buff.write(_struct_2I.pack(_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs))
00350 _x = self.action_goal.goal_id.id
00351 length = len(_x)
00352 buff.write(struct.pack('<I%ss'%length, length, _x))
00353 _x = self
00354 buff.write(_struct_d3I.pack(_x.action_goal.goal.command.hardness_gain, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs))
00355 _x = self.action_result.header.frame_id
00356 length = len(_x)
00357 buff.write(struct.pack('<I%ss'%length, length, _x))
00358 _x = self
00359 buff.write(_struct_2I.pack(_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs))
00360 _x = self.action_result.status.goal_id.id
00361 length = len(_x)
00362 buff.write(struct.pack('<I%ss'%length, length, _x))
00363 buff.write(_struct_B.pack(self.action_result.status.status))
00364 _x = self.action_result.status.text
00365 length = len(_x)
00366 buff.write(struct.pack('<I%ss'%length, length, _x))
00367 _x = self
00368 buff.write(_struct_b3I.pack(_x.action_result.result.data.rtstate.realtime_controller_state, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs))
00369 _x = self.action_feedback.header.frame_id
00370 length = len(_x)
00371 buff.write(struct.pack('<I%ss'%length, length, _x))
00372 _x = self
00373 buff.write(_struct_2I.pack(_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs))
00374 _x = self.action_feedback.status.goal_id.id
00375 length = len(_x)
00376 buff.write(struct.pack('<I%ss'%length, length, _x))
00377 buff.write(_struct_B.pack(self.action_feedback.status.status))
00378 _x = self.action_feedback.status.text
00379 length = len(_x)
00380 buff.write(struct.pack('<I%ss'%length, length, _x))
00381 buff.write(_struct_b.pack(self.action_feedback.feedback.data.rtstate.realtime_controller_state))
00382 except struct.error as se: self._check_types(se)
00383 except TypeError as te: self._check_types(te)
00384
00385 def deserialize_numpy(self, str, numpy):
00386 """
00387 unpack serialized message in str into this message instance using numpy for array types
00388 @param str: byte array of serialized message
00389 @type str: str
00390 @param numpy: numpy python module
00391 @type numpy: module
00392 """
00393 try:
00394 if self.action_goal is None:
00395 self.action_goal = pr2_gripper_sensor_msgs.msg.PR2GripperGrabActionGoal()
00396 if self.action_result is None:
00397 self.action_result = pr2_gripper_sensor_msgs.msg.PR2GripperGrabActionResult()
00398 if self.action_feedback is None:
00399 self.action_feedback = pr2_gripper_sensor_msgs.msg.PR2GripperGrabActionFeedback()
00400 end = 0
00401 _x = self
00402 start = end
00403 end += 12
00404 (_x.action_goal.header.seq, _x.action_goal.header.stamp.secs, _x.action_goal.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
00405 start = end
00406 end += 4
00407 (length,) = _struct_I.unpack(str[start:end])
00408 start = end
00409 end += length
00410 self.action_goal.header.frame_id = str[start:end]
00411 _x = self
00412 start = end
00413 end += 8
00414 (_x.action_goal.goal_id.stamp.secs, _x.action_goal.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00415 start = end
00416 end += 4
00417 (length,) = _struct_I.unpack(str[start:end])
00418 start = end
00419 end += length
00420 self.action_goal.goal_id.id = str[start:end]
00421 _x = self
00422 start = end
00423 end += 20
00424 (_x.action_goal.goal.command.hardness_gain, _x.action_result.header.seq, _x.action_result.header.stamp.secs, _x.action_result.header.stamp.nsecs,) = _struct_d3I.unpack(str[start:end])
00425 start = end
00426 end += 4
00427 (length,) = _struct_I.unpack(str[start:end])
00428 start = end
00429 end += length
00430 self.action_result.header.frame_id = str[start:end]
00431 _x = self
00432 start = end
00433 end += 8
00434 (_x.action_result.status.goal_id.stamp.secs, _x.action_result.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00435 start = end
00436 end += 4
00437 (length,) = _struct_I.unpack(str[start:end])
00438 start = end
00439 end += length
00440 self.action_result.status.goal_id.id = str[start:end]
00441 start = end
00442 end += 1
00443 (self.action_result.status.status,) = _struct_B.unpack(str[start:end])
00444 start = end
00445 end += 4
00446 (length,) = _struct_I.unpack(str[start:end])
00447 start = end
00448 end += length
00449 self.action_result.status.text = str[start:end]
00450 _x = self
00451 start = end
00452 end += 13
00453 (_x.action_result.result.data.rtstate.realtime_controller_state, _x.action_feedback.header.seq, _x.action_feedback.header.stamp.secs, _x.action_feedback.header.stamp.nsecs,) = _struct_b3I.unpack(str[start:end])
00454 start = end
00455 end += 4
00456 (length,) = _struct_I.unpack(str[start:end])
00457 start = end
00458 end += length
00459 self.action_feedback.header.frame_id = str[start:end]
00460 _x = self
00461 start = end
00462 end += 8
00463 (_x.action_feedback.status.goal_id.stamp.secs, _x.action_feedback.status.goal_id.stamp.nsecs,) = _struct_2I.unpack(str[start:end])
00464 start = end
00465 end += 4
00466 (length,) = _struct_I.unpack(str[start:end])
00467 start = end
00468 end += length
00469 self.action_feedback.status.goal_id.id = str[start:end]
00470 start = end
00471 end += 1
00472 (self.action_feedback.status.status,) = _struct_B.unpack(str[start:end])
00473 start = end
00474 end += 4
00475 (length,) = _struct_I.unpack(str[start:end])
00476 start = end
00477 end += length
00478 self.action_feedback.status.text = str[start:end]
00479 start = end
00480 end += 1
00481 (self.action_feedback.feedback.data.rtstate.realtime_controller_state,) = _struct_b.unpack(str[start:end])
00482 return self
00483 except struct.error as e:
00484 raise roslib.message.DeserializationError(e)
00485
00486 _struct_I = roslib.message.struct_I
00487 _struct_B = struct.Struct("<B")
00488 _struct_3I = struct.Struct("<3I")
00489 _struct_b = struct.Struct("<b")
00490 _struct_b3I = struct.Struct("<b3I")
00491 _struct_d3I = struct.Struct("<d3I")
00492 _struct_2I = struct.Struct("<2I")
