00001 /* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2013, Southwest Research Institute 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions are met: 00009 * 00010 * * Redistributions of source code must retain the above copyright 00011 * notice, this list of conditions and the following disclaimer. 00012 * * Redistributions in binary form must reproduce the above copyright 00013 * notice, this list of conditions and the following disclaimer in the 00014 * documentation and/or other materials provided with the distribution. 00015 * * Neither the name of the Southwest Research Institute, nor the names 00016 * of its contributors may be used to endorse or promote products derived 00017 * from this software without specific prior written permission. 00018 * 00019 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00020 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00021 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00022 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00023 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00024 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00025 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00026 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00027 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00028 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00029 * POSSIBILITY OF SUCH DAMAGE. 00030 */ 00031 00032 #ifndef MOTOMAN_DRIVER_SIMPLE_MESSAGE_MOTOMAN_SIMPLE_MESSAGE_H 00033 #define MOTOMAN_DRIVER_SIMPLE_MESSAGE_MOTOMAN_SIMPLE_MESSAGE_H 00034 00035 #ifdef ROS 00036 #include "simple_message/simple_message.h" 00037 #endif 00038 00039 #ifdef MOTOPLUS 00040 #include "simple_message.h" 00041 #endif 00042 00043 00044 namespace motoman 00045 { 00046 namespace simple_message 00047 { 00052 namespace MotomanMsgTypes 00053 { 00054 enum MotomanMsgType 00055 { 00056 MOTOMAN_MSG_BEGIN = 2000, 00057 MOTOMAN_MOTION_CTRL = 2001, 00058 MOTOMAN_MOTION_REPLY = 2002, 00059 MOTOMAN_READ_SINGLE_IO = 2003, 00060 MOTOMAN_READ_SINGLE_IO_REPLY = 2004, 00061 MOTOMAN_WRITE_SINGLE_IO = 2005, 00062 MOTOMAN_WRITE_SINGLE_IO_REPLY = 2006, 00063 ROS_MSG_MOTO_JOINT_TRAJ_PT_FULL_EX = 2016, // This is similar to the "Dynamic Joint Point" in REP I0001 00064 ROS_MSG_MOTO_JOINT_FEEDBACK_EX = 2017, //Similar to Dynamic Joint State on the REP I0001 00065 }; 00066 } 00067 typedef MotomanMsgTypes::MotomanMsgType MotomanMsgType; 00068 } // namespace simple_message 00069 } // namespace industrial 00070 00071 #endif // MOTOMAN_DRIVER_SIMPLE_MESSAGE_MOTOMAN_SIMPLE_MESSAGE_H