From 827b8623bcdfdd62f2866f6fadef2db8c71823c5 Mon Sep 17 00:00:00 2001 From: duongtd Date: Thu, 30 Oct 2025 11:30:16 +0700 Subject: [PATCH] first commit --- geometry_msgs/CMakeLists.txt | 20 + geometry_msgs/include/geometry_msgs/Point.h | 26 + geometry_msgs/include/geometry_msgs/Point32.h | 14 + .../include/geometry_msgs/PointStamped.h | 21 + geometry_msgs/include/geometry_msgs/Polygon.h | 16 + .../include/geometry_msgs/PolygonStamped.h | 21 + geometry_msgs/include/geometry_msgs/Pose.h | 20 + .../include/geometry_msgs/Quaternion.h | 24 + .../include/geometry_msgs/Transform.h | 18 + .../include/geometry_msgs/TransformStamped.h | 20 + geometry_msgs/include/geometry_msgs/Vector3.h | 23 + .../include/geometry_msgs/Vector3Stamped.msg | 3 + nav_msgs/CMakeLists.txt | 26 + nav_msgs/include/nav_msgs/MapMetaData.h | 23 + nav_msgs/include/nav_msgs/OccupancyGrid.h | 24 + sensor_msgs/CMakeLists.txt | 25 + sensor_msgs/cfg/config.yaml | 7 + .../include/sensor_msgs/BatteryState.h | 63 ++ sensor_msgs/include/sensor_msgs/CameraInfo.h | 54 ++ .../include/sensor_msgs/ChannelFloat32.h | 12 + .../include/sensor_msgs/CompressedImage.h | 18 + .../include/sensor_msgs/FluidPressure.h | 17 + sensor_msgs/include/sensor_msgs/Illuminance.h | 17 + sensor_msgs/include/sensor_msgs/Image.h | 26 + sensor_msgs/include/sensor_msgs/Imu.h | 31 + sensor_msgs/include/sensor_msgs/JointState.h | 21 + sensor_msgs/include/sensor_msgs/Joy.h | 17 + sensor_msgs/include/sensor_msgs/JoyFeedback.h | 24 + .../include/sensor_msgs/JoyFeedbackArray.h | 16 + sensor_msgs/include/sensor_msgs/LaserEcho.h | 16 + sensor_msgs/include/sensor_msgs/LaserScan.h | 34 + .../include/sensor_msgs/MultiEchoLaserScan.h | 32 + sensor_msgs/include/sensor_msgs/PointCloud.h | 24 + sensor_msgs/include/sensor_msgs/PointCloud2.h | 34 + sensor_msgs/include/sensor_msgs/PointField.h | 31 + sensor_msgs/include/sensor_msgs/Range.h | 28 + .../include/sensor_msgs/RegionOfInterest.h | 21 + .../include/sensor_msgs/RelativeHumidity.h | 19 + sensor_msgs/include/sensor_msgs/Temperature.h | 19 + .../include/sensor_msgs/TimeReference.h | 20 + .../include/sensor_msgs/distortion_models.h | 51 ++ sensor_msgs/include/sensor_msgs/fill_image.h | 70 ++ .../include/sensor_msgs/image_encodings.h | 233 ++++++ .../sensor_msgs/impl/point_cloud2_iterator.h | 417 +++++++++++ .../sensor_msgs/point_cloud2_iterator.h | 302 ++++++++ .../sensor_msgs/point_cloud_conversion.h | 169 +++++ .../sensor_msgs/point_field_conversion.h | 180 +++++ sensor_msgs/test/CMakeCache.txt | 372 ++++++++++ .../CMakeFiles/3.16.3/CMakeCCompiler.cmake | 76 ++ .../CMakeFiles/3.16.3/CMakeCXXCompiler.cmake | 88 +++ .../3.16.3/CMakeDetermineCompilerABI_C.bin | Bin 0 -> 16552 bytes .../3.16.3/CMakeDetermineCompilerABI_CXX.bin | Bin 0 -> 16560 bytes .../test/CMakeFiles/3.16.3/CMakeSystem.cmake | 15 + .../3.16.3/CompilerIdC/CMakeCCompilerId.c | 671 ++++++++++++++++++ .../test/CMakeFiles/3.16.3/CompilerIdC/a.out | Bin 0 -> 16712 bytes .../CompilerIdCXX/CMakeCXXCompilerId.cpp | 660 +++++++++++++++++ .../CMakeFiles/3.16.3/CompilerIdCXX/a.out | Bin 0 -> 16720 bytes .../CMakeDirectoryInformation.cmake | 16 + sensor_msgs/test/CMakeFiles/CMakeOutput.log | 461 ++++++++++++ sensor_msgs/test/CMakeFiles/Makefile.cmake | 51 ++ sensor_msgs/test/CMakeFiles/Makefile2 | 126 ++++ .../test/CMakeFiles/TargetDirectories.txt | 5 + sensor_msgs/test/CMakeFiles/cmake.check_cache | 1 + sensor_msgs/test/CMakeFiles/progress.marks | 1 + .../test_battery_state.dir/CXX.includecache | 68 ++ .../test_battery_state.dir/DependInfo.cmake | 22 + .../test_battery_state.dir/build.make | 98 +++ .../test_battery_state.dir/cmake_clean.cmake | 10 + .../test_battery_state.dir/depend.internal | 11 + .../test_battery_state.dir/depend.make | 11 + .../test_battery_state.dir/flags.make | 10 + .../test_battery_state.dir/link.txt | 1 + .../test_battery_state.dir/main.cpp.o | Bin 0 -> 315280 bytes .../test_battery_state.dir/progress.make | 3 + sensor_msgs/test/Makefile | 178 +++++ sensor_msgs/test/cmake_install.cmake | 55 ++ sensor_msgs/test/main.cpp | 75 ++ .../CMakeDirectoryInformation.cmake | 16 + .../std_msgs_build/CMakeFiles/progress.marks | 1 + sensor_msgs/test/std_msgs_build/Makefile | 134 ++++ .../test/std_msgs_build/cmake_install.cmake | 39 + sensor_msgs/test/test_battery_state | Bin 0 -> 153088 bytes std_msgs/CMakeLists.txt | 7 + std_msgs/include/std_msgs/Header.h | 33 + 84 files changed, 5662 insertions(+) create mode 100644 geometry_msgs/CMakeLists.txt create mode 100644 geometry_msgs/include/geometry_msgs/Point.h create mode 100644 geometry_msgs/include/geometry_msgs/Point32.h create mode 100644 geometry_msgs/include/geometry_msgs/PointStamped.h create mode 100644 geometry_msgs/include/geometry_msgs/Polygon.h create mode 100644 geometry_msgs/include/geometry_msgs/PolygonStamped.h create mode 100644 geometry_msgs/include/geometry_msgs/Pose.h create mode 100644 geometry_msgs/include/geometry_msgs/Quaternion.h create mode 100644 geometry_msgs/include/geometry_msgs/Transform.h create mode 100644 geometry_msgs/include/geometry_msgs/TransformStamped.h create mode 100644 geometry_msgs/include/geometry_msgs/Vector3.h create mode 100644 geometry_msgs/include/geometry_msgs/Vector3Stamped.msg create mode 100644 nav_msgs/CMakeLists.txt create mode 100644 nav_msgs/include/nav_msgs/MapMetaData.h create mode 100644 nav_msgs/include/nav_msgs/OccupancyGrid.h create mode 100644 sensor_msgs/CMakeLists.txt create mode 100644 sensor_msgs/cfg/config.yaml create mode 100644 sensor_msgs/include/sensor_msgs/BatteryState.h create mode 100644 sensor_msgs/include/sensor_msgs/CameraInfo.h create mode 100644 sensor_msgs/include/sensor_msgs/ChannelFloat32.h create mode 100644 sensor_msgs/include/sensor_msgs/CompressedImage.h create mode 100644 sensor_msgs/include/sensor_msgs/FluidPressure.h create mode 100644 sensor_msgs/include/sensor_msgs/Illuminance.h create mode 100644 sensor_msgs/include/sensor_msgs/Image.h create mode 100644 sensor_msgs/include/sensor_msgs/Imu.h create mode 100644 sensor_msgs/include/sensor_msgs/JointState.h create mode 100644 sensor_msgs/include/sensor_msgs/Joy.h create mode 100644 sensor_msgs/include/sensor_msgs/JoyFeedback.h create mode 100644 sensor_msgs/include/sensor_msgs/JoyFeedbackArray.h create mode 100644 sensor_msgs/include/sensor_msgs/LaserEcho.h create mode 100644 sensor_msgs/include/sensor_msgs/LaserScan.h create mode 100644 sensor_msgs/include/sensor_msgs/MultiEchoLaserScan.h create mode 100644 sensor_msgs/include/sensor_msgs/PointCloud.h create mode 100644 sensor_msgs/include/sensor_msgs/PointCloud2.h create mode 100644 sensor_msgs/include/sensor_msgs/PointField.h create mode 100644 sensor_msgs/include/sensor_msgs/Range.h create mode 100644 sensor_msgs/include/sensor_msgs/RegionOfInterest.h create mode 100644 sensor_msgs/include/sensor_msgs/RelativeHumidity.h create mode 100644 sensor_msgs/include/sensor_msgs/Temperature.h create mode 100644 sensor_msgs/include/sensor_msgs/TimeReference.h create mode 100644 sensor_msgs/include/sensor_msgs/distortion_models.h create mode 100644 sensor_msgs/include/sensor_msgs/fill_image.h create mode 100644 sensor_msgs/include/sensor_msgs/image_encodings.h create mode 100644 sensor_msgs/include/sensor_msgs/impl/point_cloud2_iterator.h create mode 100644 sensor_msgs/include/sensor_msgs/point_cloud2_iterator.h create mode 100644 sensor_msgs/include/sensor_msgs/point_cloud_conversion.h create mode 100644 sensor_msgs/include/sensor_msgs/point_field_conversion.h create mode 100644 sensor_msgs/test/CMakeCache.txt create mode 100644 sensor_msgs/test/CMakeFiles/3.16.3/CMakeCCompiler.cmake create mode 100644 sensor_msgs/test/CMakeFiles/3.16.3/CMakeCXXCompiler.cmake create mode 100755 sensor_msgs/test/CMakeFiles/3.16.3/CMakeDetermineCompilerABI_C.bin create mode 100755 sensor_msgs/test/CMakeFiles/3.16.3/CMakeDetermineCompilerABI_CXX.bin create mode 100644 sensor_msgs/test/CMakeFiles/3.16.3/CMakeSystem.cmake create mode 100644 sensor_msgs/test/CMakeFiles/3.16.3/CompilerIdC/CMakeCCompilerId.c create mode 100755 sensor_msgs/test/CMakeFiles/3.16.3/CompilerIdC/a.out create mode 100644 sensor_msgs/test/CMakeFiles/3.16.3/CompilerIdCXX/CMakeCXXCompilerId.cpp create mode 100755 sensor_msgs/test/CMakeFiles/3.16.3/CompilerIdCXX/a.out create mode 100644 sensor_msgs/test/CMakeFiles/CMakeDirectoryInformation.cmake create mode 100644 sensor_msgs/test/CMakeFiles/CMakeOutput.log create mode 100644 sensor_msgs/test/CMakeFiles/Makefile.cmake create mode 100644 sensor_msgs/test/CMakeFiles/Makefile2 create mode 100644 sensor_msgs/test/CMakeFiles/TargetDirectories.txt create mode 100644 sensor_msgs/test/CMakeFiles/cmake.check_cache create mode 100644 sensor_msgs/test/CMakeFiles/progress.marks create mode 100644 sensor_msgs/test/CMakeFiles/test_battery_state.dir/CXX.includecache create mode 100644 sensor_msgs/test/CMakeFiles/test_battery_state.dir/DependInfo.cmake create mode 100644 sensor_msgs/test/CMakeFiles/test_battery_state.dir/build.make create mode 100644 sensor_msgs/test/CMakeFiles/test_battery_state.dir/cmake_clean.cmake create mode 100644 sensor_msgs/test/CMakeFiles/test_battery_state.dir/depend.internal create mode 100644 sensor_msgs/test/CMakeFiles/test_battery_state.dir/depend.make create mode 100644 sensor_msgs/test/CMakeFiles/test_battery_state.dir/flags.make create mode 100644 sensor_msgs/test/CMakeFiles/test_battery_state.dir/link.txt create mode 100644 sensor_msgs/test/CMakeFiles/test_battery_state.dir/main.cpp.o create mode 100644 sensor_msgs/test/CMakeFiles/test_battery_state.dir/progress.make create mode 100644 sensor_msgs/test/Makefile create mode 100644 sensor_msgs/test/cmake_install.cmake create mode 100644 sensor_msgs/test/main.cpp create mode 100644 sensor_msgs/test/std_msgs_build/CMakeFiles/CMakeDirectoryInformation.cmake create mode 100644 sensor_msgs/test/std_msgs_build/CMakeFiles/progress.marks create mode 100644 sensor_msgs/test/std_msgs_build/Makefile create mode 100644 sensor_msgs/test/std_msgs_build/cmake_install.cmake create mode 100755 sensor_msgs/test/test_battery_state create mode 100644 std_msgs/CMakeLists.txt create mode 100644 std_msgs/include/std_msgs/Header.h diff --git a/geometry_msgs/CMakeLists.txt b/geometry_msgs/CMakeLists.txt new file mode 100644 index 0000000..fa2f7e5 --- /dev/null +++ b/geometry_msgs/CMakeLists.txt @@ -0,0 +1,20 @@ +cmake_minimum_required(VERSION 3.10) +project(geometry_msgs) + +set(CMAKE_CXX_STANDARD 17) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +if (NOT TARGET std_msgs) + add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../std_msgs ${CMAKE_BINARY_DIR}/std_msgs_build) +endif() + +# Thư viện header-only +add_library(geometry_msgs INTERFACE) + +# Include path tới thư mục chứa file header +target_include_directories(geometry_msgs INTERFACE + ${CMAKE_CURRENT_SOURCE_DIR}/include +) + +# Liên kết với std_msgs nếu bạn có file Header.h trong include/std_msgs/ +target_link_libraries(geometry_msgs INTERFACE std_msgs) diff --git a/geometry_msgs/include/geometry_msgs/Point.h b/geometry_msgs/include/geometry_msgs/Point.h new file mode 100644 index 0000000..3088843 --- /dev/null +++ b/geometry_msgs/include/geometry_msgs/Point.h @@ -0,0 +1,26 @@ +#ifndef POINT_H +#define POINT_H + +#include +#include + +namespace geometry_msgs +{ + +struct Point +{ + double x; + double y; + double z; + + // Constructor mặc định + Point() : x(0.0), y(0.0), z(0.0) {} + + // Constructor khởi tạo nhanh + Point(double x_, double y_, double z_ = 0.0) + : x(x_), y(y_), z(z_) {} +}; + +} // namespace geometry_msgs + +#endif // POINT_H \ No newline at end of file diff --git a/geometry_msgs/include/geometry_msgs/Point32.h b/geometry_msgs/include/geometry_msgs/Point32.h new file mode 100644 index 0000000..12d8ae4 --- /dev/null +++ b/geometry_msgs/include/geometry_msgs/Point32.h @@ -0,0 +1,14 @@ +#ifndef POINT_32_H +#define POINT_32_H + +namespace geometry_msgs +{ +struct Point32 +{ + float x; + float y; + float z; +}; +} // namespace geometry_msgs + +#endif //POINT_32_H \ No newline at end of file diff --git a/geometry_msgs/include/geometry_msgs/PointStamped.h b/geometry_msgs/include/geometry_msgs/PointStamped.h new file mode 100644 index 0000000..cece302 --- /dev/null +++ b/geometry_msgs/include/geometry_msgs/PointStamped.h @@ -0,0 +1,21 @@ +// # This represents a Point with reference coordinate frame and timestamp +// Header header +// Point point +#ifndef POINT_STAMPED_H +#define POINT_STAMPED_H +#include "std_msgs/Header.h" +#include "geometry_msgs/Point.h" + +namespace geometry_msgs +{ + +struct PointStamped +{ + std_msgs::Header header; + geometry_msgs::Point point; + PointStamped() = default; +}; + +} // namespace geometry_msgs + +#endif //POINT_STAMPED_H \ No newline at end of file diff --git a/geometry_msgs/include/geometry_msgs/Polygon.h b/geometry_msgs/include/geometry_msgs/Polygon.h new file mode 100644 index 0000000..fbf0209 --- /dev/null +++ b/geometry_msgs/include/geometry_msgs/Polygon.h @@ -0,0 +1,16 @@ +#ifndef POLYGON_H +#define POLYGON_H +#include +#include + +namespace geometry_msgs +{ + +struct Polygon +{ + std::vector points; +}; + +} // namespace geometry_msgs + +#endif //POLYGON_H diff --git a/geometry_msgs/include/geometry_msgs/PolygonStamped.h b/geometry_msgs/include/geometry_msgs/PolygonStamped.h new file mode 100644 index 0000000..41a58f0 --- /dev/null +++ b/geometry_msgs/include/geometry_msgs/PolygonStamped.h @@ -0,0 +1,21 @@ +// # This represents a Polygon with reference coordinate frame and timestamp +// Header header +// Polygon polygon +#ifndef POLYGON_STAMPED_H +#define POLYGON_STAMPED_H + +#include +#include + +namespace geometry_msgs +{ + +struct PolygonStamped +{ + std_msgs::Header header; + Polygon polygon; +}; + +} // namespace geometry_msgs + +#endif //POLYGON_STAMPED_H diff --git a/geometry_msgs/include/geometry_msgs/Pose.h b/geometry_msgs/include/geometry_msgs/Pose.h new file mode 100644 index 0000000..8d19312 --- /dev/null +++ b/geometry_msgs/include/geometry_msgs/Pose.h @@ -0,0 +1,20 @@ +#ifndef POSE_H +#define POSE_H + +#include +#include +#include +#include + +namespace geometry_msgs +{ + +struct Pose +{ + Point position; + Quaternion orientation; +}; + +} // namespace geometry_msgs + +#endif // POSE_H \ No newline at end of file diff --git a/geometry_msgs/include/geometry_msgs/Quaternion.h b/geometry_msgs/include/geometry_msgs/Quaternion.h new file mode 100644 index 0000000..a11290e --- /dev/null +++ b/geometry_msgs/include/geometry_msgs/Quaternion.h @@ -0,0 +1,24 @@ +#ifndef QUATERNION_H +#define QUATERNION_H + +namespace geometry_msgs +{ + +struct Quaternion +{ + double x; + double y; + double z; + double w; + + // Constructor mặc định + Quaternion() : x(0.0), y(0.0), z(0.0), w(0.0) {} + + // Constructor khởi tạo nhanh + Quaternion(double x_, double y_, double z_, double w_) + : x(x_), y(y_), z(z_), w(w_) {} +}; + +} // namespace geometry_msgs + +#endif // QUATERNION_H \ No newline at end of file diff --git a/geometry_msgs/include/geometry_msgs/Transform.h b/geometry_msgs/include/geometry_msgs/Transform.h new file mode 100644 index 0000000..9dd7c63 --- /dev/null +++ b/geometry_msgs/include/geometry_msgs/Transform.h @@ -0,0 +1,18 @@ +#ifndef TRANSFORM_H +#define TRANSFORM_H + +#include "geometry_msgs/Vector3.h" +#include "geometry_msgs/Quaternion.h" + +namespace geometry_msgs +{ + +struct Transform +{ + Vector3 translation; + Quaternion rotation; +}; + +} // namespace geometry_msgs + +#endif // TRANSFORM_H \ No newline at end of file diff --git a/geometry_msgs/include/geometry_msgs/TransformStamped.h b/geometry_msgs/include/geometry_msgs/TransformStamped.h new file mode 100644 index 0000000..ebc26c9 --- /dev/null +++ b/geometry_msgs/include/geometry_msgs/TransformStamped.h @@ -0,0 +1,20 @@ +#ifndef TRANSFORM_STAMPED_H +#define TRANSFORM_STAMPED_H + +#include "std_msgs/Header.h" +#include "geometry_msgs/Transform.h" +#include + +namespace geometry_msgs +{ + +struct TransformStamped +{ + std_msgs::Header header; + std::string child_frame_id; + Transform transform; +}; + +} // namespace geometry_msgs + +#endif // TRANSFORM_STAMPED_H \ No newline at end of file diff --git a/geometry_msgs/include/geometry_msgs/Vector3.h b/geometry_msgs/include/geometry_msgs/Vector3.h new file mode 100644 index 0000000..df95c81 --- /dev/null +++ b/geometry_msgs/include/geometry_msgs/Vector3.h @@ -0,0 +1,23 @@ +#ifndef VECTOR_3_H +#define VECTOR_3_H + +namespace geometry_msgs +{ + +struct Vector3 +{ + double x; + double y; + double z; + + // Constructor mặc định + Vector3() : x(0.0), y(0.0), z(0.0) {} + + // Constructor khởi tạo nhanh + Vector3(double x_, double y_, double z_) + : x(x_), y(y_), z(z_) {} +}; + +} // namespace geometry_msgs + +#endif // VECTOR_3_H \ No newline at end of file diff --git a/geometry_msgs/include/geometry_msgs/Vector3Stamped.msg b/geometry_msgs/include/geometry_msgs/Vector3Stamped.msg new file mode 100644 index 0000000..e68eb06 --- /dev/null +++ b/geometry_msgs/include/geometry_msgs/Vector3Stamped.msg @@ -0,0 +1,3 @@ +# This represents a Vector3 with reference coordinate frame and timestamp +Header header +Vector3 vector diff --git a/nav_msgs/CMakeLists.txt b/nav_msgs/CMakeLists.txt new file mode 100644 index 0000000..77de9ac --- /dev/null +++ b/nav_msgs/CMakeLists.txt @@ -0,0 +1,26 @@ +cmake_minimum_required(VERSION 3.10) +project(nav_msgs) + +set(CMAKE_CXX_STANDARD 17) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +if (NOT TARGET std_msgs) + add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../std_msgs ${CMAKE_BINARY_DIR}/std_msgs_build) +endif() +if (NOT TARGET geometry_msgs) + add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../geometry_msgs ${CMAKE_BINARY_DIR}/geometry_msgs_build) +endif() + +# Thư viện header-only +add_library(nav_msgs INTERFACE) + +# Include path tới thư mục chứa file header +target_include_directories(nav_msgs INTERFACE + ${CMAKE_CURRENT_SOURCE_DIR}/include +) + +# Liên kết với std_msgs nếu bạn có file Header.h trong include/std_msgs/ +target_link_libraries(nav_msgs INTERFACE + std_msgs + geometry_msgs + ) diff --git a/nav_msgs/include/nav_msgs/MapMetaData.h b/nav_msgs/include/nav_msgs/MapMetaData.h new file mode 100644 index 0000000..7504af4 --- /dev/null +++ b/nav_msgs/include/nav_msgs/MapMetaData.h @@ -0,0 +1,23 @@ +#ifndef MAP_META_DATA_H +#define MAP_META_DATA_H + +#include +#include +#include +#include "geometry_msgs/Pose.h" + +namespace nav_msgs +{ + +struct MapMetaData +{ +double map_load_time; +float resolution; +uint32_t width; +uint32_t height; +geometry_msgs::Pose origin; +}; + +} + +#endif //MAP_META_DATA_H \ No newline at end of file diff --git a/nav_msgs/include/nav_msgs/OccupancyGrid.h b/nav_msgs/include/nav_msgs/OccupancyGrid.h new file mode 100644 index 0000000..cb5f8fe --- /dev/null +++ b/nav_msgs/include/nav_msgs/OccupancyGrid.h @@ -0,0 +1,24 @@ +#ifndef OCCUPANCY_GRID_H +#define OCCUPANCY_GRID_H + +#include +#include +#include +#include "std_msgs/Header.h" +#include + +namespace nav_msgs +{ + +struct OccupancyGrid +{ +std_msgs::Header header; + +MapMetaData info; + +std::vector data; +}; + +} + +#endif //OCCUPANCY_GRID_H diff --git a/sensor_msgs/CMakeLists.txt b/sensor_msgs/CMakeLists.txt new file mode 100644 index 0000000..c716115 --- /dev/null +++ b/sensor_msgs/CMakeLists.txt @@ -0,0 +1,25 @@ +cmake_minimum_required(VERSION 3.10) +project(sensor_msgs) + +set(CMAKE_CXX_STANDARD 17) +set(CMAKE_CXX_STANDARD_REQUIRED ON) + +if (NOT TARGET std_msgs) + add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/../std_msgs ${CMAKE_BINARY_DIR}/std_msgs_build) +endif() + +# Thư viện header-only +add_library(sensor_msgs INTERFACE) + +# Include path tới thư mục chứa file header +target_include_directories(sensor_msgs INTERFACE + ${CMAKE_CURRENT_SOURCE_DIR}/include +) + +# Liên kết với std_msgs nếu bạn có file Header.h trong include/std_msgs/ +target_link_libraries(sensor_msgs INTERFACE std_msgs yaml-cpp) +# target_link_libraries(sensor_msgs yaml-cpp) + +# Tạo file test ví dụ +add_executable(test_battery_state test/main.cpp) +target_link_libraries(test_battery_state PRIVATE sensor_msgs) diff --git a/sensor_msgs/cfg/config.yaml b/sensor_msgs/cfg/config.yaml new file mode 100644 index 0000000..fea614d --- /dev/null +++ b/sensor_msgs/cfg/config.yaml @@ -0,0 +1,7 @@ +inflation_layer: + enabled: true + inflate_unknown: false + cost_scaling_factor: 15.0 + inflation_radius: 0.55 +obstacle_layer: + distance: 0.15 \ No newline at end of file diff --git a/sensor_msgs/include/sensor_msgs/BatteryState.h b/sensor_msgs/include/sensor_msgs/BatteryState.h new file mode 100644 index 0000000..033db21 --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/BatteryState.h @@ -0,0 +1,63 @@ +#pragma once +#include "std_msgs/Header.h" +#include +#include +#include +#include + +namespace sensor_msgs +{ + +struct BatteryState +{ + // ===== Power supply status constants ===== + static constexpr uint8_t POWER_SUPPLY_STATUS_UNKNOWN = 0; + static constexpr uint8_t POWER_SUPPLY_STATUS_CHARGING = 1; + static constexpr uint8_t POWER_SUPPLY_STATUS_DISCHARGING = 2; + static constexpr uint8_t POWER_SUPPLY_STATUS_NOT_CHARGING = 3; + static constexpr uint8_t POWER_SUPPLY_STATUS_FULL = 4; + + // ===== Power supply health constants ===== + static constexpr uint8_t POWER_SUPPLY_HEALTH_UNKNOWN = 0; + static constexpr uint8_t POWER_SUPPLY_HEALTH_GOOD = 1; + static constexpr uint8_t POWER_SUPPLY_HEALTH_OVERHEAT = 2; + static constexpr uint8_t POWER_SUPPLY_HEALTH_DEAD = 3; + static constexpr uint8_t POWER_SUPPLY_HEALTH_OVERVOLTAGE = 4; + static constexpr uint8_t POWER_SUPPLY_HEALTH_UNSPEC_FAILURE = 5; + static constexpr uint8_t POWER_SUPPLY_HEALTH_COLD = 6; + static constexpr uint8_t POWER_SUPPLY_HEALTH_WATCHDOG_TIMER_EXPIRE = 7; + static constexpr uint8_t POWER_SUPPLY_HEALTH_SAFETY_TIMER_EXPIRE = 8; + + // ===== Power supply technology (chemistry) constants ===== + static constexpr uint8_t POWER_SUPPLY_TECHNOLOGY_UNKNOWN = 0; + static constexpr uint8_t POWER_SUPPLY_TECHNOLOGY_NIMH = 1; + static constexpr uint8_t POWER_SUPPLY_TECHNOLOGY_LION = 2; + static constexpr uint8_t POWER_SUPPLY_TECHNOLOGY_LIPO = 3; + static constexpr uint8_t POWER_SUPPLY_TECHNOLOGY_LIFE = 4; + static constexpr uint8_t POWER_SUPPLY_TECHNOLOGY_NICD = 5; + static constexpr uint8_t POWER_SUPPLY_TECHNOLOGY_LIMN = 6; + + // ===== Data fields ===== + std_msgs::Header header; + + float voltage = std::numeric_limits::quiet_NaN(); // [V] + float temperature = std::numeric_limits::quiet_NaN(); // [°C] + float current = std::numeric_limits::quiet_NaN(); // [A] + float charge = std::numeric_limits::quiet_NaN(); // [Ah] + float capacity = std::numeric_limits::quiet_NaN(); // [Ah] + float design_capacity = std::numeric_limits::quiet_NaN(); // [Ah] + float percentage = std::numeric_limits::quiet_NaN(); // 0..1 + + uint8_t power_supply_status = POWER_SUPPLY_STATUS_UNKNOWN; + uint8_t power_supply_health = POWER_SUPPLY_HEALTH_UNKNOWN; + uint8_t power_supply_technology = POWER_SUPPLY_TECHNOLOGY_UNKNOWN; + bool present = false; + + std::vector cell_voltage; + std::vector cell_temperature; + + std::string location; + std::string serial_number; +}; + +} // namespace sensor_msgs diff --git a/sensor_msgs/include/sensor_msgs/CameraInfo.h b/sensor_msgs/include/sensor_msgs/CameraInfo.h new file mode 100644 index 0000000..0146477 --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/CameraInfo.h @@ -0,0 +1,54 @@ + + +# Time of image acquisition, camera coordinate frame ID +Header header # Header timestamp should be acquisition time of image + + +uint32 height +uint32 width + +string distortion_model + +float64[] D + +float64[9] K # 3x3 row-major matrix + + +float64[9] R # 3x3 row-major matrix + +float64[12] P # 3x4 row-major matrix + +uint32 binning_x +uint32 binning_y + +RegionOfInterest roi + +#pragma once +#include +#include +#include "msg/Header.h" +#include "msg/RegionOfInterest.h" + +namespace sensor_msgs +{ +struct CameraInfo +{ + std_msgs::Header header; // thời gian và frame_id + + // Calibration parameters + uint32_t height = 0; + uint32_t width = 0; + std::string distortion_model; + + std::vector D; // distortion coefficients + double K[9] = {0.0}; // intrinsic matrix + double R[9] = {0.0}; // rectification matrix + double P[12] = {0.0}; // projection matrix + + // Operational parameters + uint32_t binning_x = 0; + uint32_t binning_y = 0; + sensor_msgs::RegionOfInterest roi; +}; +} // namespace sensor_msgs + diff --git a/sensor_msgs/include/sensor_msgs/ChannelFloat32.h b/sensor_msgs/include/sensor_msgs/ChannelFloat32.h new file mode 100644 index 0000000..49ab8ee --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/ChannelFloat32.h @@ -0,0 +1,12 @@ +#pragma once +#include +#include + +namespace sensor_msgs +{ +struct ChannelFloat32 +{ + std::string name; // Tên của channel (vd: "intensity", "rgb", "u", "v") + std::vector values; // Dữ liệu float32 ứng với từng điểm trong PointCloud +}; +} // namespace sensor_msgs diff --git a/sensor_msgs/include/sensor_msgs/CompressedImage.h b/sensor_msgs/include/sensor_msgs/CompressedImage.h new file mode 100644 index 0000000..923bd22 --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/CompressedImage.h @@ -0,0 +1,18 @@ +#pragma once +#include +#include +#include "msg/Header.h" + +namespace sensor_msgs +{ + +struct CompressedImage +{ + std_msgs::Header header; // Thông tin thời gian & frame_id + std::string format; // Định dạng nén (jpeg, png, ...) + + // Dữ liệu ảnh nén (binary buffer) + std::vector data; +}; + +} // namespace sensor_msgs diff --git a/sensor_msgs/include/sensor_msgs/FluidPressure.h b/sensor_msgs/include/sensor_msgs/FluidPressure.h new file mode 100644 index 0000000..1b3296c --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/FluidPressure.h @@ -0,0 +1,17 @@ +#pragma once +#include "msg/Header.h" + +namespace sensor_msgs +{ + +struct FluidPressure +{ + std_msgs::Header header; // Thông tin thời gian và khung tọa độ + double fluid_pressure; // Áp suất tuyệt đối (đơn vị: Pascal) + double variance; // Phương sai (0 = không xác định) + + FluidPressure() + : fluid_pressure(0.0), variance(0.0) {} +}; + +} // namespace sensor_msgs diff --git a/sensor_msgs/include/sensor_msgs/Illuminance.h b/sensor_msgs/include/sensor_msgs/Illuminance.h new file mode 100644 index 0000000..9b40761 --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/Illuminance.h @@ -0,0 +1,17 @@ +#pragma once +#include "msg/Header.h" + +namespace sensor_msgs +{ + +struct Illuminance +{ + std_msgs::Header header; // Thông tin thời gian và khung tọa độ + double illuminance; // Độ rọi đo được (đơn vị: Lux) + double variance; // Phương sai (0 = không xác định) + + Illuminance() + : illuminance(0.0), variance(0.0) {} +}; + +} // namespace sensor_msgs diff --git a/sensor_msgs/include/sensor_msgs/Image.h b/sensor_msgs/include/sensor_msgs/Image.h new file mode 100644 index 0000000..d5bba9c --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/Image.h @@ -0,0 +1,26 @@ +#pragma once +#include +#include +#include +#include "msg/Header.h" + +namespace sensor_msgs +{ +struct Image +{ + std_msgs::Header header; // Thông tin thời gian và frame + uint32_t height = 0; // Số hàng (pixels theo chiều dọc) + uint32_t width = 0; // Số cột (pixels theo chiều ngang) + std::string encoding; // Kiểu mã hóa (vd: "rgb8", "mono8") + uint8_t is_bigendian = 0; // 0 = little endian + uint32_t step = 0; // Số byte mỗi dòng ảnh + std::vector data; // Mảng dữ liệu ảnh (kích thước step * height) + + Image() = default; + + inline size_t size() const { return data.size(); } + + inline bool empty() const { return data.empty(); } +}; + +} // namespace sensor_msgs diff --git a/sensor_msgs/include/sensor_msgs/Imu.h b/sensor_msgs/include/sensor_msgs/Imu.h new file mode 100644 index 0000000..c92dd81 --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/Imu.h @@ -0,0 +1,31 @@ +#pragma once +#include +#include "msg/Header.h" +#include "geometry_msgs/Quaternion.h" +#include "geometry_msgs/Vector3.h" + +namespace sensor_msgs +{ + +struct Imu +{ + std_msgs::Header header; // Thời gian và frame gốc + + geometry_msgs::Quaternion orientation; // Góc quay (đơn vị: quaternion) + std::array orientation_covariance; // Ma trận hiệp phương sai (row-major) + + geometry_msgs::Vector3 angular_velocity; // Tốc độ góc (rad/s) + std::array angular_velocity_covariance; // Ma trận hiệp phương sai + + geometry_msgs::Vector3 linear_acceleration; // Gia tốc tuyến tính (m/s^2) + std::array linear_acceleration_covariance; // Ma trận hiệp phương sai + + Imu() + { + orientation_covariance.fill(0.0); + angular_velocity_covariance.fill(0.0); + linear_acceleration_covariance.fill(0.0); + } +}; + +} // namespace sensor_msgs diff --git a/sensor_msgs/include/sensor_msgs/JointState.h b/sensor_msgs/include/sensor_msgs/JointState.h new file mode 100644 index 0000000..c1df5cf --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/JointState.h @@ -0,0 +1,21 @@ +#pragma once +#include +#include +#include "msg/Header.h" + +namespace sensor_msgs +{ + +struct JointState +{ + std_msgs::Header header; // Thời điểm và frame ghi nhận trạng thái khớp + + std::vector name; // Tên từng khớp + std::vector position; // Vị trí (rad hoặc m) + std::vector velocity; // Vận tốc (rad/s hoặc m/s) + std::vector effort; // Mô-men hoặc lực (Nm hoặc N) + + JointState() = default; +}; + +} // namespace sensor_msgs diff --git a/sensor_msgs/include/sensor_msgs/Joy.h b/sensor_msgs/include/sensor_msgs/Joy.h new file mode 100644 index 0000000..e26c632 --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/Joy.h @@ -0,0 +1,17 @@ +#pragma once +#include +#include "msg/Header.h" + +namespace sensor_msgs +{ + +struct Joy +{ + std_msgs::Header header; // Thời điểm nhận dữ liệu từ joystick + std::vector axes; // Các giá trị trục analog (ví dụ: X, Y, Z, throttle, ...) + std::vector buttons; // Trạng thái nút bấm (0 = nhả, 1 = nhấn) + + Joy() = default; +}; + +} // namespace sensor_msgs diff --git a/sensor_msgs/include/sensor_msgs/JoyFeedback.h b/sensor_msgs/include/sensor_msgs/JoyFeedback.h new file mode 100644 index 0000000..9c64159 --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/JoyFeedback.h @@ -0,0 +1,24 @@ +#ifndef JOY_FEEDBACK_H +#define JOY_FEEDBACK_H + +#include + +namespace sensor_msgs +{ + +struct JoyFeedback +{ + // Declare of the type of feedback + static constexpr uint8_t TYPE_LED = 0; + static constexpr uint8_t TYPE_RUMBLE = 1; + static constexpr uint8_t TYPE_BUZZER = 2; + + uint8_t type; // Loại feedback + uint8_t id; // ID của từng loại feedback + float intensity; // Cường độ (0.0 - 1.0) +}; + +} +#endif // JOY_FEEDBACK_H + + diff --git a/sensor_msgs/include/sensor_msgs/JoyFeedbackArray.h b/sensor_msgs/include/sensor_msgs/JoyFeedbackArray.h new file mode 100644 index 0000000..e5d82b1 --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/JoyFeedbackArray.h @@ -0,0 +1,16 @@ +#ifndef JOY_FEEDBACK_ARRAY_H +#define JOY_FEEDBACK_ARRAY_H + +#include +#include "sensor_msgs/JoyFeedback.h" + +namespace sensor_msgs +{ + +struct JoyFeedbackArray +{ + std::vector array; // Danh sách các feedback +}; + +} // namespace sensor_msgs +#endif // JOY_FEEDBACK_ARRAY_H diff --git a/sensor_msgs/include/sensor_msgs/LaserEcho.h b/sensor_msgs/include/sensor_msgs/LaserEcho.h new file mode 100644 index 0000000..1148b89 --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/LaserEcho.h @@ -0,0 +1,16 @@ +#ifndef LASER_ECHO_H +#define LASER_ECHO_H + +#include +namespace sensor_msgs +{ + +struct LaserEcho +{ + // Mảng chứa nhiều giá trị đo (range hoặc intensity) + // Tất cả đều thuộc cùng một góc quét + std::vector echoes; +}; + +} +#endif // LASER_ECHO_H diff --git a/sensor_msgs/include/sensor_msgs/LaserScan.h b/sensor_msgs/include/sensor_msgs/LaserScan.h new file mode 100644 index 0000000..18bdf12 --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/LaserScan.h @@ -0,0 +1,34 @@ +#ifndef LASER_SCAN_H +#define LASER_SCAN_H + +#include +#include "std_msgs/Header.h" +namespace sensor_msgs +{ + +struct LaserScan +{ + std_msgs::Header header; // Thời gian và frame của phép đo + + // Góc bắt đầu và kết thúc của tia quét [rad] + float angle_min = 0.0f; + float angle_max = 0.0f; + float angle_increment = 0.0f; // Khoảng cách góc giữa hai tia quét liên tiếp [rad] + + // Thông tin về thời gian quét + float time_increment = 0.0f; // Thời gian giữa hai phép đo liên tiếp [s] + float scan_time = 0.0f; // Thời gian hoàn tất một lần quét [s] + + // Giới hạn khoảng đo + float range_min = 0.0f; // Giá trị khoảng cách nhỏ nhất [m] + float range_max = 0.0f; // Giá trị khoảng cách lớn nhất [m] + + // Dữ liệu chính của laser + std::vector ranges; // Dữ liệu khoảng cách [m] + std::vector intensities; // Cường độ phản xạ (đơn vị phụ thuộc thiết bị) + + LaserScan() = default; +}; + +} +#endif // LASER_SCAN_H diff --git a/sensor_msgs/include/sensor_msgs/MultiEchoLaserScan.h b/sensor_msgs/include/sensor_msgs/MultiEchoLaserScan.h new file mode 100644 index 0000000..8a25151 --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/MultiEchoLaserScan.h @@ -0,0 +1,32 @@ +#ifndef MULTI_ECHO_LASER_SCAN_H +#define MULTI_ECHO_LASER_SCAN_H + +#include +#include "msg/Header.h" +#include "msg/LaserEcho.h" // Định nghĩa struct LaserEcho (float32[] echoes) + +namespace sensor_msgs +{ + +struct MultiEchoLaserScan +{ + std_msgs::Header header; // Thông tin thời gian & frame của phép đo + + float angle_min = 0.0f; // Góc bắt đầu quét (radians) + float angle_max = 0.0f; // Góc kết thúc quét (radians) + float angle_increment = 0.0f; // Độ tăng góc giữa 2 tia liên tiếp (radians) + + float time_increment = 0.0f; // Thời gian giữa 2 phép đo (seconds) + float scan_time = 0.0f; // Thời gian quét toàn bộ (seconds) + + float range_min = 0.0f; // Khoảng cách đo nhỏ nhất (m) + float range_max = 0.0f; // Khoảng cách đo lớn nhất (m) + + std::vector ranges; // Dữ liệu khoảng cách (m) + std::vector intensities; // Dữ liệu cường độ (tùy chọn) + + MultiEchoLaserScan() = default; +}; + +} +#endif // MULTI_ECHO_LASER_SCAN_H diff --git a/sensor_msgs/include/sensor_msgs/PointCloud.h b/sensor_msgs/include/sensor_msgs/PointCloud.h new file mode 100644 index 0000000..541bdd9 --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/PointCloud.h @@ -0,0 +1,24 @@ +#ifndef POINTCLOUD_H +#define POINTCLOUD_H + +#include +#include +#include "std_msgs/Header.h" +#include "geometry_msgs/Point32.h" +#include "sensor_msgs/ChannelFloat32.h" + +namespace sensor_msgs +{ + +struct PointCloud +{ + std_msgs::Header header; // Thông tin thời gian & frame của dữ liệu + + std::vector points; // Danh sách các điểm 3D (x, y, z) + std::vector channels; // Dữ liệu phụ đi kèm (vd: "intensity", "rgb") + + PointCloud() = default; +}; + +} +#endif // POINTCLOUD_H diff --git a/sensor_msgs/include/sensor_msgs/PointCloud2.h b/sensor_msgs/include/sensor_msgs/PointCloud2.h new file mode 100644 index 0000000..57eb83c --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/PointCloud2.h @@ -0,0 +1,34 @@ +#ifndef POINTCLOUD2_H +#define POINTCLOUD2_H + +#include +#include +#include +#include "std_msgs/Header.h" +#include "sensor_msgs/PointField.h" + +namespace sensor_msgs +{ + +struct PointCloud2 +{ + std_msgs::Header header; // Thời gian và frame của dữ liệu + + uint32_t height = 1; // Số hàng (1 nếu là point cloud 1D) + uint32_t width = 0; // Số lượng điểm trên mỗi hàng (tổng điểm = height * width) + + std::vector fields; // Thông tin layout của từng trường trong dữ liệu (vd: x, y, z, intensity,...) + + bool is_bigendian = false; // true nếu dữ liệu lưu ở dạng big-endian + uint32_t point_step = 0; // Số byte cho mỗi điểm + uint32_t row_step = 0; // Số byte cho mỗi hàng + + std::vector data; // Dữ liệu nhị phân (raw bytes), kích thước = row_step * height + + bool is_dense = false; // true nếu không có điểm NaN hoặc vô hiệu + + PointCloud2() = default; +}; + +} +#endif // POINTCLOUD2_H diff --git a/sensor_msgs/include/sensor_msgs/PointField.h b/sensor_msgs/include/sensor_msgs/PointField.h new file mode 100644 index 0000000..e4de848 --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/PointField.h @@ -0,0 +1,31 @@ +#ifndef POINTFIELD_H +#define POINTFIELD_H + +#include +#include + +namespace sensor_msgs +{ + +struct PointField +{ + // Các hằng số kiểu dữ liệu (theo chuẩn ROS) + static constexpr uint8_t INT8 = 1; + static constexpr uint8_t UINT8 = 2; + static constexpr uint8_t INT16 = 3; + static constexpr uint8_t UINT16 = 4; + static constexpr uint8_t INT32 = 5; + static constexpr uint8_t UINT32 = 6; + static constexpr uint8_t FLOAT32 = 7; + static constexpr uint8_t FLOAT64 = 8; + + std::string name; // Tên trường (vd: "x", "y", "z", "intensity") + uint32_t offset = 0; // Vị trí byte bắt đầu trong cấu trúc mỗi điểm + uint8_t datatype = 0; // Kiểu dữ liệu (sử dụng các hằng ở trên) + uint32_t count = 0; // Số phần tử trong trường (vd: 3 cho vector3) + + PointField() = default; +}; + +} +#endif // POINTFIELD_H diff --git a/sensor_msgs/include/sensor_msgs/Range.h b/sensor_msgs/include/sensor_msgs/Range.h new file mode 100644 index 0000000..e539556 --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/Range.h @@ -0,0 +1,28 @@ +#ifndef RANGE_H +#define RANGE_H + +#include +#include "Header.h" // Header tương tự std_msgs/Header + +namespace sensor_msgs +{ + +struct Range +{ + // Các hằng số loại bức xạ (radiation type) + static constexpr uint8_t ULTRASOUND = 0; + static constexpr uint8_t INFRARED = 1; + + Header header; // Thời gian đo và frame_id + + uint8_t radiation_type = ULTRASOUND; // Loại cảm biến (âm thanh, IR, v.v.) + float field_of_view = 0.0f; // Góc mở của cảm biến [rad] + float min_range = 0.0f; // Khoảng cách nhỏ nhất [m] + float max_range = 0.0f; // Khoảng cách lớn nhất [m] + float range = 0.0f; // Khoảng cách đo được [m] + + Range() = default; +}; + +} +#endif // RANGE_H diff --git a/sensor_msgs/include/sensor_msgs/RegionOfInterest.h b/sensor_msgs/include/sensor_msgs/RegionOfInterest.h new file mode 100644 index 0000000..c4d9e6c --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/RegionOfInterest.h @@ -0,0 +1,21 @@ +#ifndef REGION_OF_INTEREST_H +#define REGION_OF_INTEREST_H + +#include +namespace sensor_msgs +{ + +struct RegionOfInterest +{ + uint32_t x_offset = 0; // Pixel ngoài cùng bên trái của ROI + uint32_t y_offset = 0; // Pixel ngoài cùng bên trên của ROI + uint32_t height = 0; // Chiều cao vùng ROI + uint32_t width = 0; // Chiều rộng vùng ROI + + bool do_rectify = false; // Có cần tính toán lại ROI sau khi hiệu chỉnh ảnh không + + RegionOfInterest() = default; +}; + +} +#endif // REGION_OF_INTEREST_H diff --git a/sensor_msgs/include/sensor_msgs/RelativeHumidity.h b/sensor_msgs/include/sensor_msgs/RelativeHumidity.h new file mode 100644 index 0000000..f2e1392 --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/RelativeHumidity.h @@ -0,0 +1,19 @@ +#ifndef RELATIVE_HUMIDITY_H +#define RELATIVE_HUMIDITY_H + +#include +#include "msg/Header.h" // Giả định bạn đã có struct Header tương tự ROS std_msgs/Header +namespace sensor_msgs +{ + +struct RelativeHumidity +{ + Header header; // Thời điểm đo và khung tọa độ cảm biến + double relative_humidity = 0.0; // Độ ẩm tương đối (0.0 - 1.0) + double variance = 0.0; // Phương sai, 0 nghĩa là "không biết" + + RelativeHumidity() = default; +}; + +} +#endif // RELATIVE_HUMIDITY_H diff --git a/sensor_msgs/include/sensor_msgs/Temperature.h b/sensor_msgs/include/sensor_msgs/Temperature.h new file mode 100644 index 0000000..59e4ba6 --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/Temperature.h @@ -0,0 +1,19 @@ +#ifndef TEMPERATURE_H +#define TEMPERATURE_H + +#include +#include "msg/Header.h" // Định nghĩa struct Header tương tự std_msgs/Header +namespace sensor_msgs +{ + +struct Temperature +{ + Header header; // Thông tin thời gian và vị trí cảm biến + double temperature = 0.0; // Nhiệt độ đo được (°C) + double variance = 0.0; // Phương sai, 0 nghĩa là "không biết" + + Temperature() = default; +}; + +} +#endif // TEMPERATURE_H diff --git a/sensor_msgs/include/sensor_msgs/TimeReference.h b/sensor_msgs/include/sensor_msgs/TimeReference.h new file mode 100644 index 0000000..6890a73 --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/TimeReference.h @@ -0,0 +1,20 @@ +#ifndef TIMEREFERENCE_H +#define TIMEREFERENCE_H + +#include +#include "msg/Header.h" // Định nghĩa struct Header tương tự std_msgs/Header +namespace sensor_msgs +{ + +struct TimeReference +{ + Header header; // stamp: thời điểm đo (theo đồng hồ hệ thống) + // frame_id: không sử dụng trong message này + double time_ref = 0.0; // Thời gian từ nguồn thời gian bên ngoài (giây) + std::string source; // Tên của nguồn thời gian (tùy chọn) + + TimeReference() = default; +}; + +} +#endif // TIMEREFERENCE_H diff --git a/sensor_msgs/include/sensor_msgs/distortion_models.h b/sensor_msgs/include/sensor_msgs/distortion_models.h new file mode 100644 index 0000000..a4c6c90 --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/distortion_models.h @@ -0,0 +1,51 @@ + +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2010, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +#ifndef SENSOR_MSGS_DISTORTION_MODELS_H +#define SENSOR_MSGS_DISTORTION_MODELS_H + +#include + +namespace sensor_msgs +{ + namespace distortion_models + { + const std::string PLUMB_BOB = "plumb_bob"; + const std::string RATIONAL_POLYNOMIAL = "rational_polynomial"; + const std::string EQUIDISTANT = "equidistant"; + } +} + +#endif diff --git a/sensor_msgs/include/sensor_msgs/fill_image.h b/sensor_msgs/include/sensor_msgs/fill_image.h new file mode 100644 index 0000000..8795d2f --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/fill_image.h @@ -0,0 +1,70 @@ +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2008, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +#ifndef FILLIMAGE_HH +#define FILLIMAGE_HH + +#include "sensor_msgs/Image.h" +#include "sensor_msgs/image_encodings.h" + +namespace sensor_msgs +{ + + static inline bool fillImage(Image& image, + const std::string& encoding_arg, + uint32_t rows_arg, + uint32_t cols_arg, + uint32_t step_arg, + const void* data_arg) + { + image.encoding = encoding_arg; + image.height = rows_arg; + image.width = cols_arg; + image.step = step_arg; + size_t st0 = (step_arg * rows_arg); + image.data.resize(st0); + memcpy(&image.data[0], data_arg, st0); + + image.is_bigendian = 0; + return true; + } + + static inline void clearImage(Image& image) + { + image.data.resize(0); + } +} + + +#endif diff --git a/sensor_msgs/include/sensor_msgs/image_encodings.h b/sensor_msgs/include/sensor_msgs/image_encodings.h new file mode 100644 index 0000000..e872bba --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/image_encodings.h @@ -0,0 +1,233 @@ + +/********************************************************************* +* Software License Agreement (BSD License) +* +* Copyright (c) 2009, Willow Garage, Inc. +* All rights reserved. +* +* Redistribution and use in source and binary forms, with or without +* modification, are permitted provided that the following conditions +* are met: +* +* * Redistributions of source code must retain the above copyright +* notice, this list of conditions and the following disclaimer. +* * Redistributions in binary form must reproduce the above +* copyright notice, this list of conditions and the following +* disclaimer in the documentation and/or other materials provided +* with the distribution. +* * Neither the name of the Willow Garage nor the names of its +* contributors may be used to endorse or promote products derived +* from this software without specific prior written permission. +* +* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS +* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT +* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS +* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE +* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, +* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, +* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; +* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER +* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT +* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN +* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE +* POSSIBILITY OF SUCH DAMAGE. +*********************************************************************/ + +#ifndef SENSOR_MSGS_IMAGE_ENCODINGS_H +#define SENSOR_MSGS_IMAGE_ENCODINGS_H + +#include +#include +#include + +namespace sensor_msgs +{ + namespace image_encodings + { + const std::string RGB8 = "rgb8"; + const std::string RGBA8 = "rgba8"; + const std::string RGB16 = "rgb16"; + const std::string RGBA16 = "rgba16"; + const std::string BGR8 = "bgr8"; + const std::string BGRA8 = "bgra8"; + const std::string BGR16 = "bgr16"; + const std::string BGRA16 = "bgra16"; + const std::string MONO8="mono8"; + const std::string MONO16="mono16"; + + // OpenCV CvMat types + const std::string TYPE_8UC1="8UC1"; + const std::string TYPE_8UC2="8UC2"; + const std::string TYPE_8UC3="8UC3"; + const std::string TYPE_8UC4="8UC4"; + const std::string TYPE_8SC1="8SC1"; + const std::string TYPE_8SC2="8SC2"; + const std::string TYPE_8SC3="8SC3"; + const std::string TYPE_8SC4="8SC4"; + const std::string TYPE_16UC1="16UC1"; + const std::string TYPE_16UC2="16UC2"; + const std::string TYPE_16UC3="16UC3"; + const std::string TYPE_16UC4="16UC4"; + const std::string TYPE_16SC1="16SC1"; + const std::string TYPE_16SC2="16SC2"; + const std::string TYPE_16SC3="16SC3"; + const std::string TYPE_16SC4="16SC4"; + const std::string TYPE_32SC1="32SC1"; + const std::string TYPE_32SC2="32SC2"; + const std::string TYPE_32SC3="32SC3"; + const std::string TYPE_32SC4="32SC4"; + const std::string TYPE_32FC1="32FC1"; + const std::string TYPE_32FC2="32FC2"; + const std::string TYPE_32FC3="32FC3"; + const std::string TYPE_32FC4="32FC4"; + const std::string TYPE_64FC1="64FC1"; + const std::string TYPE_64FC2="64FC2"; + const std::string TYPE_64FC3="64FC3"; + const std::string TYPE_64FC4="64FC4"; + + // Bayer encodings + const std::string BAYER_RGGB8="bayer_rggb8"; + const std::string BAYER_BGGR8="bayer_bggr8"; + const std::string BAYER_GBRG8="bayer_gbrg8"; + const std::string BAYER_GRBG8="bayer_grbg8"; + const std::string BAYER_RGGB16="bayer_rggb16"; + const std::string BAYER_BGGR16="bayer_bggr16"; + const std::string BAYER_GBRG16="bayer_gbrg16"; + const std::string BAYER_GRBG16="bayer_grbg16"; + + // Miscellaneous + // This is the UYVY version of YUV422 codec http://www.fourcc.org/yuv.php#UYVY + // with an 8-bit depth + const std::string YUV422="yuv422"; + + // Prefixes for abstract image encodings + const std::string ABSTRACT_ENCODING_PREFIXES[] = { + "8UC", "8SC", "16UC", "16SC", "32SC", "32FC", "64FC"}; + + // Utility functions for inspecting an encoding string + static inline bool isColor(const std::string& encoding) + { + return encoding == RGB8 || encoding == BGR8 || + encoding == RGBA8 || encoding == BGRA8 || + encoding == RGB16 || encoding == BGR16 || + encoding == RGBA16 || encoding == BGRA16; + } + + static inline bool isMono(const std::string& encoding) + { + return encoding == MONO8 || encoding == MONO16; + } + + static inline bool isBayer(const std::string& encoding) + { + return encoding == BAYER_RGGB8 || encoding == BAYER_BGGR8 || + encoding == BAYER_GBRG8 || encoding == BAYER_GRBG8 || + encoding == BAYER_RGGB16 || encoding == BAYER_BGGR16 || + encoding == BAYER_GBRG16 || encoding == BAYER_GRBG16; + } + + static inline bool hasAlpha(const std::string& encoding) + { + return encoding == RGBA8 || encoding == BGRA8 || + encoding == RGBA16 || encoding == BGRA16; + } + + static inline int numChannels(const std::string& encoding) + { + // First do the common-case encodings + if (encoding == MONO8 || + encoding == MONO16) + return 1; + if (encoding == BGR8 || + encoding == RGB8 || + encoding == BGR16 || + encoding == RGB16) + return 3; + if (encoding == BGRA8 || + encoding == RGBA8 || + encoding == BGRA16 || + encoding == RGBA16) + return 4; + if (encoding == BAYER_RGGB8 || + encoding == BAYER_BGGR8 || + encoding == BAYER_GBRG8 || + encoding == BAYER_GRBG8 || + encoding == BAYER_RGGB16 || + encoding == BAYER_BGGR16 || + encoding == BAYER_GBRG16 || + encoding == BAYER_GRBG16) + return 1; + + // Now all the generic content encodings + // TODO: Rewrite with regex when ROS supports C++11 + for (size_t i=0; i < sizeof(ABSTRACT_ENCODING_PREFIXES) / sizeof(*ABSTRACT_ENCODING_PREFIXES); i++) + { + std::string prefix = ABSTRACT_ENCODING_PREFIXES[i]; + if (encoding.substr(0, prefix.size()) != prefix) + continue; + if (encoding.size() == prefix.size()) + return 1; // ex. 8UC -> 1 + int n_channel = atoi(encoding.substr(prefix.size(), + encoding.size() - prefix.size()).c_str()); // ex. 8UC5 -> 5 + if (n_channel != 0) + return n_channel; // valid encoding string + } + + if (encoding == YUV422) + return 2; + + throw std::runtime_error("Unknown encoding " + encoding); + return -1; + } + + static inline int bitDepth(const std::string& encoding) + { + if (encoding == MONO16) + return 16; + if (encoding == MONO8 || + encoding == BGR8 || + encoding == RGB8 || + encoding == BGRA8 || + encoding == RGBA8 || + encoding == BAYER_RGGB8 || + encoding == BAYER_BGGR8 || + encoding == BAYER_GBRG8 || + encoding == BAYER_GRBG8) + return 8; + + if (encoding == MONO16 || + encoding == BGR16 || + encoding == RGB16 || + encoding == BGRA16 || + encoding == RGBA16 || + encoding == BAYER_RGGB16 || + encoding == BAYER_BGGR16 || + encoding == BAYER_GBRG16 || + encoding == BAYER_GRBG16) + return 16; + + // Now all the generic content encodings + // TODO: Rewrite with regex when ROS supports C++11 + for (size_t i=0; i < sizeof(ABSTRACT_ENCODING_PREFIXES) / sizeof(*ABSTRACT_ENCODING_PREFIXES); i++) + { + std::string prefix = ABSTRACT_ENCODING_PREFIXES[i]; + if (encoding.substr(0, prefix.size()) != prefix) + continue; + if (encoding.size() == prefix.size()) + return atoi(prefix.c_str()); // ex. 8UC -> 8 + int n_channel = atoi(encoding.substr(prefix.size(), + encoding.size() - prefix.size()).c_str()); // ex. 8UC10 -> 10 + if (n_channel != 0) + return atoi(prefix.c_str()); // valid encoding string + } + + if (encoding == YUV422) + return 8; + + throw std::runtime_error("Unknown encoding " + encoding); + return -1; + } + } +} + +#endif diff --git a/sensor_msgs/include/sensor_msgs/impl/point_cloud2_iterator.h b/sensor_msgs/include/sensor_msgs/impl/point_cloud2_iterator.h new file mode 100644 index 0000000..8d69213 --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/impl/point_cloud2_iterator.h @@ -0,0 +1,417 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of Open Source Robotics Foundation nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef SENSOR_MSGS_IMPL_POINT_CLOUD_ITERATOR_H +#define SENSOR_MSGS_IMPL_POINT_CLOUD_ITERATOR_H + +#include +#include +#include +#include +#include + +/** + * \brief Private implementation used by PointCloud2Iterator + * \author Vincent Rabaud + */ + +namespace +{ +/** Return the size of a datatype (which is an enum of sensor_msgs::PointField::) in bytes + * @param datatype one of the enums of sensor_msgs::PointField:: + */ +inline int sizeOfPointField(int datatype) +{ + if ((datatype == sensor_msgs::PointField::INT8) || (datatype == sensor_msgs::PointField::UINT8)) + return 1; + else if ((datatype == sensor_msgs::PointField::INT16) || (datatype == sensor_msgs::PointField::UINT16)) + return 2; + else if ((datatype == sensor_msgs::PointField::INT32) || (datatype == sensor_msgs::PointField::UINT32) || + (datatype == sensor_msgs::PointField::FLOAT32)) + return 4; + else if (datatype == sensor_msgs::PointField::FLOAT64) + return 8; + else + { + std::stringstream err; + err << "PointField of type " << datatype << " does not exist"; + throw std::runtime_error(err.str()); + } + return -1; +} + +/** Private function that adds a PointField to the "fields" member of a PointCloud2 + * @param cloud_msg the PointCloud2 to add a field to + * @param name the name of the field + * @param count the number of elements in the PointField + * @param datatype the datatype of the elements + * @param offset the offset of that element + * @return the offset of the next PointField that will be added to the PointCLoud2 + */ +inline int addPointField(sensor_msgs::PointCloud2 &cloud_msg, const std::string &name, int count, int datatype, + int offset) +{ + sensor_msgs::PointField point_field; + point_field.name = name; + point_field.count = count; + point_field.datatype = datatype; + point_field.offset = offset; + cloud_msg.fields.push_back(point_field); + + // Update the offset + return offset + point_field.count * sizeOfPointField(datatype); +} +} + +//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +namespace sensor_msgs +{ + +inline PointCloud2Modifier::PointCloud2Modifier(PointCloud2& cloud_msg) : cloud_msg_(cloud_msg) +{ +} + +inline size_t PointCloud2Modifier::size() const +{ + return cloud_msg_.data.size() / cloud_msg_.point_step; +} + +inline void PointCloud2Modifier::reserve(size_t size) +{ + cloud_msg_.data.reserve(size * cloud_msg_.point_step); +} + +inline void PointCloud2Modifier::resize(size_t size) +{ + cloud_msg_.data.resize(size * cloud_msg_.point_step); + + // Update height/width + if (cloud_msg_.height == 1) { + cloud_msg_.width = size; + cloud_msg_.row_step = size * cloud_msg_.point_step; + } else + if (cloud_msg_.width == 1) + cloud_msg_.height = size; + else { + cloud_msg_.height = 1; + cloud_msg_.width = size; + cloud_msg_.row_step = size * cloud_msg_.point_step; + } +} + +inline void PointCloud2Modifier::clear() +{ + cloud_msg_.data.clear(); + + // Update height/width + if (cloud_msg_.height == 1) + cloud_msg_.row_step = cloud_msg_.width = 0; + else + if (cloud_msg_.width == 1) + cloud_msg_.height = 0; + else + cloud_msg_.row_step = cloud_msg_.width = cloud_msg_.height = 0; +} + + +/** + * @brief Function setting some fields in a PointCloud and adjusting the + * internals of the PointCloud2 + * @param n_fields the number of fields to add. The fields are given as + * triplets: name of the field as char*, number of elements in the + * field, the datatype of the elements in the field + * + * E.g, you create your PointCloud2 message with XYZ/RGB as follows: + * 
+ *   setPointCloud2FieldsByString(cloud_msg, 4, "x", 1, sensor_msgs::PointField::FLOAT32,
+ *                                              "y", 1, sensor_msgs::PointField::FLOAT32,
+ *                                              "z", 1, sensor_msgs::PointField::FLOAT32,
+ *                                              "rgb", 1, sensor_msgs::PointField::FLOAT32);
+ *
+ * WARNING: THIS DOES NOT TAKE INTO ACCOUNT ANY PADDING AS DONE UNTIL HYDRO + * For simple usual cases, the overloaded setPointCloud2FieldsByString is what you want. + */ +inline void PointCloud2Modifier::setPointCloud2Fields(int n_fields, ...) +{ + cloud_msg_.fields.clear(); + cloud_msg_.fields.reserve(n_fields); + va_list vl; + va_start(vl, n_fields); + int offset = 0; + for (int i = 0; i < n_fields; ++i) { + // Create the corresponding PointField + std::string name(va_arg(vl, char*)); + int count(va_arg(vl, int)); + int datatype(va_arg(vl, int)); + offset = addPointField(cloud_msg_, name, count, datatype, offset); + } + va_end(vl); + + // Resize the point cloud accordingly + cloud_msg_.point_step = offset; + cloud_msg_.row_step = cloud_msg_.width * cloud_msg_.point_step; + cloud_msg_.data.resize(cloud_msg_.height * cloud_msg_.row_step); +} + +/** + * @brief Function setting some fields in a PointCloud and adjusting the + * internals of the PointCloud2 + * @param n_fields the number of fields to add. The fields are given as + * strings: "xyz" (3 floats), "rgb" (3 uchar stacked in a float), + * "rgba" (4 uchar stacked in a float) + * @return void + * + * WARNING: THIS FUNCTION DOES ADD ANY NECESSARY PADDING TRANSPARENTLY + */ +inline void PointCloud2Modifier::setPointCloud2FieldsByString(int n_fields, ...) +{ + cloud_msg_.fields.clear(); + cloud_msg_.fields.reserve(n_fields); + va_list vl; + va_start(vl, n_fields); + int offset = 0; + for (int i = 0; i < n_fields; ++i) { + // Create the corresponding PointFields + std::string + field_name = std::string(va_arg(vl, char*)); + if (field_name == "xyz") { + sensor_msgs::PointField point_field; + // Do x, y and z + offset = addPointField(cloud_msg_, "x", 1, sensor_msgs::PointField::FLOAT32, offset); + offset = addPointField(cloud_msg_, "y", 1, sensor_msgs::PointField::FLOAT32, offset); + offset = addPointField(cloud_msg_, "z", 1, sensor_msgs::PointField::FLOAT32, offset); + offset += sizeOfPointField(sensor_msgs::PointField::FLOAT32); + } else + if ((field_name == "rgb") || (field_name == "rgba")) { + offset = addPointField(cloud_msg_, field_name, 1, sensor_msgs::PointField::FLOAT32, offset); + offset += 3 * sizeOfPointField(sensor_msgs::PointField::FLOAT32); + } else + throw std::runtime_error("Field " + field_name + " does not exist"); + } + va_end(vl); + + // Resize the point cloud accordingly + cloud_msg_.point_step = offset; + cloud_msg_.row_step = cloud_msg_.width * cloud_msg_.point_step; + cloud_msg_.data.resize(cloud_msg_.height * cloud_msg_.row_step); +} + +//////////////////////////////////////////////////////////////////////////////////////////////////////////////////////// + +namespace impl +{ + +/** + */ +template class V> +PointCloud2IteratorBase::PointCloud2IteratorBase() : data_char_(0), data_(0), data_end_(0) +{ +} + +/** + * @param cloud_msg_ The PointCloud2 to iterate upon + * @param field_name The field to iterate upon + */ +template class V> +PointCloud2IteratorBase::PointCloud2IteratorBase(C &cloud_msg, const std::string &field_name) +{ + int offset = set_field(cloud_msg, field_name); + + data_char_ = cloud_msg.data.data() + offset; + data_ = reinterpret_cast(data_char_); + data_end_ = reinterpret_cast(data_char_ + cloud_msg.data.size()); +} + +/** Assignment operator + * @param iter the iterator to copy data from + * @return a reference to *this + */ +template class V> +V& PointCloud2IteratorBase::operator =(const V &iter) +{ + if (this != &iter) + { + point_step_ = iter.point_step_; + data_char_ = iter.data_char_; + data_ = iter.data_; + data_end_ = iter.data_end_; + is_bigendian_ = iter.is_bigendian_; + } + + return *this; +} + +/** Access the i th element starting at the current pointer (useful when a field has several elements of the same + * type) + * @param i + * @return a reference to the i^th value from the current position + */ +template class V> +TT& PointCloud2IteratorBase::operator [](size_t i) const +{ + return *(data_ + i); +} + +/** Dereference the iterator. Equivalent to accessing it through [0] + * @return the value to which the iterator is pointing + */ +template class V> +TT& PointCloud2IteratorBase::operator *() const +{ + return *data_; +} + +/** Increase the iterator to the next element + * @return a reference to the updated iterator + */ +template class V> +V& PointCloud2IteratorBase::operator ++() +{ + data_char_ += point_step_; + data_ = reinterpret_cast(data_char_); + return *static_cast*>(this); +} + +/** Basic pointer addition + * @param i the amount to increase the iterator by + * @return an iterator with an increased position + */ +template class V> +V PointCloud2IteratorBase::operator +(int i) +{ + V res = *static_cast*>(this); + + res.data_char_ += i*point_step_; + res.data_ = reinterpret_cast(res.data_char_); + + return res; +} + +/** Increase the iterator by a certain amount + * @return a reference to the updated iterator + */ +template class V> +V& PointCloud2IteratorBase::operator +=(int i) +{ + data_char_ += i*point_step_; + data_ = reinterpret_cast(data_char_); + return *static_cast*>(this); +} + +/** Compare to another iterator + * @return whether the current iterator points to a different address than the other one + */ +template class V> +bool PointCloud2IteratorBase::operator !=(const V& iter) const +{ + return iter.data_ != data_; +} + +/** Return the end iterator + * @return the end iterator (useful when performing normal iterator processing with ++) + */ +template class V> +V PointCloud2IteratorBase::end() const +{ + V res = *static_cast*>(this); + res.data_ = data_end_; + return res; +} + +/** Common code to set the field of the PointCloud2 + * @param cloud_msg the PointCloud2 to modify + * @param field_name the name of the field to iterate upon + * @return the offset at which the field is found + */ +template class V> +int PointCloud2IteratorBase::set_field(const sensor_msgs::PointCloud2 &cloud_msg, const std::string &field_name) +{ + is_bigendian_ = cloud_msg.is_bigendian; + point_step_ = cloud_msg.point_step; + // make sure the channel is valid + std::vector::const_iterator field_iter = cloud_msg.fields.begin(), field_end = + cloud_msg.fields.end(); + while ((field_iter != field_end) && (field_iter->name != field_name)) + ++field_iter; + + if (field_iter == field_end) { + // Handle the special case of r,g,b,a (we assume they are understood as the channels of an rgb or rgba field) + if ((field_name == "r") || (field_name == "g") || (field_name == "b") || (field_name == "a")) + { + // Check that rgb or rgba is present + field_iter = cloud_msg.fields.begin(); + while ((field_iter != field_end) && (field_iter->name != "rgb") && (field_iter->name != "rgba")) + ++field_iter; + if (field_iter == field_end) + throw std::runtime_error("Field " + field_name + " does not exist"); + if (field_name == "r") + { + if (is_bigendian_) + return field_iter->offset + 1; + else + return field_iter->offset + 2; + } + if (field_name == "g") + { + if (is_bigendian_) + return field_iter->offset + 2; + else + return field_iter->offset + 1; + } + if (field_name == "b") + { + if (is_bigendian_) + return field_iter->offset + 3; + else + return field_iter->offset + 0; + } + if (field_name == "a") + { + if (is_bigendian_) + return field_iter->offset + 0; + else + return field_iter->offset + 3; + } + } else + throw std::runtime_error("Field " + field_name + " does not exist"); + } + + return field_iter->offset; +} + +} +} + +#endif// SENSOR_MSGS_IMPL_POINT_CLOUD_ITERATOR_H diff --git a/sensor_msgs/include/sensor_msgs/point_cloud2_iterator.h b/sensor_msgs/include/sensor_msgs/point_cloud2_iterator.h new file mode 100644 index 0000000..5b9c7a1 --- /dev/null +++ b/sensor_msgs/include/sensor_msgs/point_cloud2_iterator.h @@ -0,0 +1,302 @@ +/* + * Software License Agreement (BSD License) + * + * Copyright (c) 2013, Open Source Robotics Foundation + * All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * * Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * * Redistributions in binary form must reproduce the above + * copyright notice, this list of conditions and the following + * disclaimer in the documentation and/or other materials provided + * with the distribution. + * * Neither the name of Open Source Robotics Foundation nor the names of its + * contributors may be used to endorse or promote products derived + * from this software without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; + * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER + * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + */ + +#ifndef SENSOR_MSGS_POINT_CLOUD2_ITERATOR_H +#define SENSOR_MSGS_POINT_CLOUD2_ITERATOR_H + +#include +#include +#include +#include + +/** + * \brief Tools for manipulating sensor_msgs + * + * This file provides two sets of utilities to modify and parse PointCloud2 + * The first set allows you to conveniently set the fields by hand: + * 
+ *   #include 
+ *   // Create a PointCloud2
+ *   sensor_msgs::PointCloud2 cloud_msg;
+ *   // Fill some internals of the PoinCloud2 like the header/width/height ...
+ *   cloud_msgs.height = 1;  cloud_msgs.width = 4;
+ *   // Set the point fields to xyzrgb and resize the vector with the following command
+ *   // 4 is for the number of added fields. Each come in triplet: the name of the PointField,
+ *   // the number of occurrences of the type in the PointField, the type of the PointField
+ *   sensor_msgs::PointCloud2Modifier modifier(cloud_msg);
+ *   modifier.setPointCloud2Fields(4, "x", 1, sensor_msgs::PointField::FLOAT32,
+ *                                            "y", 1, sensor_msgs::PointField::FLOAT32,
+ *                                            "z", 1, sensor_msgs::PointField::FLOAT32,
+ *                                            "rgb", 1, sensor_msgs::PointField::FLOAT32);
+ *   // For convenience and the xyz, rgb, rgba fields, you can also use the following overloaded function.
+ *   // You have to be aware that the following function does add extra padding for backward compatibility though
+ *   // so it is definitely the solution of choice for PointXYZ and PointXYZRGB
+ *   // 2 is for the number of fields to add
+ *   modifier.setPointCloud2FieldsByString(2, "xyz", "rgb");
+ *   // You can then reserve / resize as usual
+ *   modifier.resize(100);
+ *
+ * + * The second set allow you to traverse your PointCloud using an iterator: + * 
+ *   // Define some raw data we'll put in the PointCloud2
+ *   float point_data[] = {1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 7.0, 8.0, 9.0, 10.0, 11.0, 12.0};
+ *   uint8_t color_data[] = {40, 80, 120, 160, 200, 240, 20, 40, 60, 80, 100, 120};
+ *   // Define the iterators. When doing so, you define the Field you would like to iterate upon and
+ *   // the type of you would like returned: it is not necessary the type of the PointField as sometimes
+ *   // you pack data in another type (e.g. 3 uchar + 1 uchar for RGB are packed in a float)
+ *   sensor_msgs::PointCloud2Iterator iter_x(cloud_msg, "x");
+ *   sensor_msgs::PointCloud2Iterator iter_y(cloud_msg, "y");
+ *   sensor_msgs::PointCloud2Iterator iter_z(cloud_msg, "z");
+ *   // Even though the r,g,b,a fields do not exist (it's usually rgb, rgba), you can create iterators for
+ *   // those: they will handle data packing for you (in little endian RGB is packed as *,R,G,B in a float
+ *   // and RGBA as A,R,G,B)
+ *   sensor_msgs::PointCloud2Iterator iter_r(cloud_msg, "r");
+ *   sensor_msgs::PointCloud2Iterator iter_g(cloud_msg, "g");
+ *   sensor_msgs::PointCloud2Iterator iter_b(cloud_msg, "b");
+ *   // Fill the PointCloud2
+ *   for(size_t i=0; i
+ */
+
+namespace sensor_msgs
+{
+/**
+ * @brief Enables modifying a sensor_msgs::PointCloud2 like a container
+ */
+class PointCloud2Modifier
+{
+public:
+  /**
+   * @brief Default constructor
+   * @param cloud_msg The sensor_msgs::PointCloud2 to modify
+   */
+  PointCloud2Modifier(PointCloud2& cloud_msg);
+
+  /**
+   * @return the number of T's in the original sensor_msgs::PointCloud2
+   */
+  size_t size() const;
+
+  /**
+   * @param size The number of T's to reserve in the original sensor_msgs::PointCloud2 for
+   */
+  void reserve(size_t size);
+
+  /**
+   * @param size The number of T's to change the size of the original sensor_msgs::PointCloud2 by
+   */
+  void resize(size_t size);
+
+  /**
+   * @brief remove all T's from the original sensor_msgs::PointCloud2
+   */
+  void clear();
+
+  /**
+   * @brief Function setting some fields in a PointCloud and adjusting the
+   *        internals of the PointCloud2
+   * @param n_fields the number of fields to add. The fields are given as
+   *        triplets: name of the field as char*, number of elements in the
+   *        field, the datatype of the elements in the field
+   *
+   * E.g, you create your PointCloud2 message with XYZ/RGB as follows:
+   * 
+   *   setPointCloud2Fields(cloud_msg, 4, "x", 1, sensor_msgs::PointField::FLOAT32,
+   *                                              "y", 1, sensor_msgs::PointField::FLOAT32,
+   *                                              "z", 1, sensor_msgs::PointField::FLOAT32,
+   *                                              "rgb", 1, sensor_msgs::PointField::FLOAT32);
+   * 

+   * WARNING: THIS DOES NOT TAKE INTO ACCOUNT ANY PADDING AS DONE UNTIL HYDRO
+   * For simple usual cases, the overloaded setPointCloud2FieldsByString is what you want.
+   */
+  void setPointCloud2Fields(int n_fields, ...);
+
+  /**
+   * @brief Function setting some fields in a PointCloud and adjusting the
+   *        internals of the PointCloud2
+   * @param n_fields the number of fields to add. The fields are given as
+   *        strings: "xyz" (3 floats), "rgb" (3 uchar stacked in a float),
+   *        "rgba" (4 uchar stacked in a float)
+   * @return void
+   *
+   * WARNING: THIS FUNCTION DOES ADD ANY NECESSARY PADDING TRANSPARENTLY
+   */
+  void setPointCloud2FieldsByString(int n_fields, ...);
+protected:
+  /** A reference to the original sensor_msgs::PointCloud2 that we read */
+  PointCloud2& cloud_msg_;
+};
+
+namespace impl
+{
+/** Private base class for PointCloud2Iterator and PointCloud2ConstIterator
+ * T is the type of the value on which the child class will be templated
+ * TT is the type of the value to be retrieved (same as T except for constness)
+ * U is the type of the raw data in PointCloud2 (only uchar and const uchar are supported)
+ * C is the type of the pointcloud to intialize from (const or not)
+ * V is the derived class (yop, curiously recurring template pattern)
+ */
+template class V>
+class PointCloud2IteratorBase
+{
+public:
+  /**
+   */
+  PointCloud2IteratorBase();
+
+  /**
+   * @param cloud_msg The PointCloud2 to iterate upon
+   * @param field_name The field to iterate upon
+   */
+  PointCloud2IteratorBase(C &cloud_msg, const std::string &field_name);
+
+  /** Assignment operator
+   * @param iter the iterator to copy data from
+   * @return a reference to *this
+   */
+  V& operator =(const V& iter);
+
+  /** Access the i th element starting at the current pointer (useful when a field has several elements of the same
+   * type)
+   * @param i
+   * @return a reference to the i^th value from the current position
+   */
+  TT& operator [](size_t i) const;
+
+  /** Dereference the iterator. Equivalent to accessing it through [0]
+   * @return the value to which the iterator is pointing
+   */
+  TT& operator *() const;
+
+  /** Increase the iterator to the next element
+   * @return a reference to the updated iterator
+   */
+  V& operator ++();
+
+  /** Basic pointer addition
+   * @param i the amount to increase the iterator by
+   * @return an iterator with an increased position
+   */
+  V operator +(int i);
+
+  /** Increase the iterator by a certain amount
+   * @return a reference to the updated iterator
+   */
+  V& operator +=(int i);
+
+  /** Compare to another iterator
+   * @return whether the current iterator points to a different address than the other one
+   */
+  bool operator !=(const V& iter) const;
+
+  /** Return the end iterator
+   * @return the end iterator (useful when performing normal iterator processing with ++)
+   */
+  V end() const;
+
+private:
+  /** Common code to set the field of the PointCloud2
+   * @param cloud_msg the PointCloud2 to modify
+   * @param field_name the name of the field to iterate upon
+   * @return the offset at which the field is found
+   */
+  int set_field(const sensor_msgs::PointCloud2 &cloud_msg, const std::string &field_name);
+
+  /** The "point_step" of the original cloud */
+  int point_step_;
+  /** The raw data  in uchar* where the iterator is */
+  U* data_char_;
+  /** The cast data where the iterator is */
+  TT* data_;
+  /** The end() pointer of the iterator */
+  TT* data_end_;
+  /** Whether the fields are stored as bigendian */
+  bool is_bigendian_;
+};
+}
+
+/**
+ * \brief Class that can iterate over a PointCloud2
+ *
+ * T type of the element being iterated upon
+ * E.g, you create your PointClou2 message as follows:
+ * 
+ *   setPointCloud2FieldsByString(cloud_msg, 2, "xyz", "rgb");
+ * 

+ *
+ * For iterating over XYZ, you do :
+ * 
+ *   sensor_msgs::PointCloud2Iterator iter_x(cloud_msg, "x");
+ * 

+ * and then access X through iter_x[0] or *iter_x
+ * You could create an iterator for Y and Z too but as they are consecutive,
+ * you can just use iter_x[1] and iter_x[2]
+ *
+ * For iterating over RGB, you do:
+ * 
+ * sensor_msgs::PointCloud2Iterator iter_rgb(cloud_msg, "rgb");
+ * 

+ * and then access R,G,B through  iter_rgb[0], iter_rgb[1], iter_rgb[2]
+ */
+template
+class PointCloud2Iterator : public impl::PointCloud2IteratorBase
+{
+public:
+  PointCloud2Iterator(sensor_msgs::PointCloud2 &cloud_msg, const std::string &field_name) :
+    impl::PointCloud2IteratorBase::PointCloud2IteratorBase(cloud_msg, field_name) {}
+};
+
+/**
+ * \brief Same as a PointCloud2Iterator but for const data
+ */
+template
+class PointCloud2ConstIterator : public impl::PointCloud2IteratorBase
+{
+public:
+  PointCloud2ConstIterator(const sensor_msgs::PointCloud2 &cloud_msg, const std::string &field_name) :
+    impl::PointCloud2IteratorBase::PointCloud2IteratorBase(cloud_msg, field_name) {}
+};
+}
+
+#include 
+
+#endif// SENSOR_MSGS_POINT_CLOUD2_ITERATOR_H
diff --git a/sensor_msgs/include/sensor_msgs/point_cloud_conversion.h b/sensor_msgs/include/sensor_msgs/point_cloud_conversion.h
new file mode 100644
index 0000000..439145d
--- /dev/null
+++ b/sensor_msgs/include/sensor_msgs/point_cloud_conversion.h
@@ -0,0 +1,169 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ *  Copyright (c) 2010, Willow Garage, Inc.
+ *  All rights reserved.
+ *
+ *  Redistribution and use in source and binary forms, with or without
+ *  modification, are permitted provided that the following conditions
+ *  are met:
+ *
+ *   * Redistributions of source code must retain the above copyright
+ *     notice, this list of conditions and the following disclaimer.
+ *   * Redistributions in binary form must reproduce the above
+ *     copyright notice, this list of conditions and the following
+ *     disclaimer in the documentation and/or other materials provided
+ *     with the distribution.
+ *   * Neither the name of Willow Garage, Inc. nor the names of its
+ *     contributors may be used to endorse or promote products derived
+ *     from this software without specific prior written permission.
+ *
+ *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+ *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+ *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ *  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ *  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ *  POSSIBILITY OF SUCH DAMAGE.
+ *
+ * $Id$
+ *
+ */
+
+#ifndef SENSOR_MSGS_POINT_CLOUD_CONVERSION_H
+#define SENSOR_MSGS_POINT_CLOUD_CONVERSION_H
+
+#include 
+#include 
+#include 
+
+/** 
+  * \brief Convert between the old (sensor_msgs::PointCloud) and the new (sensor_msgs::PointCloud2) format.
+  * \author Radu Bogdan Rusu
+  */
+namespace sensor_msgs
+{
+  //////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+  /** \brief Get the index of a specified field (i.e., dimension/channel)
+    * \param points the the point cloud message
+    * \param field_name the string defining the field name
+    */
+static inline int getPointCloud2FieldIndex (const sensor_msgs::PointCloud2 &cloud, const std::string &field_name)
+{
+  // Get the index we need
+  for (size_t d = 0; d < cloud.fields.size (); ++d)
+    if (cloud.fields[d].name == field_name)
+      return (d);
+  return (-1);
+}
+
+  ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+  /** \brief Convert a sensor_msgs::PointCloud message to a sensor_msgs::PointCloud2 message.
+    * \param input the message in the sensor_msgs::PointCloud format
+    * \param output the resultant message in the sensor_msgs::PointCloud2 format
+    */ 
+static inline bool convertPointCloudToPointCloud2 (const sensor_msgs::PointCloud &input, sensor_msgs::PointCloud2 &output)
+{
+  output.header = input.header;
+  output.width  = input.points.size ();
+  output.height = 1;
+  output.fields.resize (3 + input.channels.size ());
+  // Convert x/y/z to fields
+  output.fields[0].name = "x"; output.fields[1].name = "y"; output.fields[2].name = "z";
+  int offset = 0;
+  // All offsets are *4, as all field data types are float32
+  for (size_t d = 0; d < output.fields.size (); ++d, offset += 4)
+  {
+    output.fields[d].offset = offset;
+    output.fields[d].datatype = sensor_msgs::PointField::FLOAT32;
+    output.fields[d].count  = 1;
+  }
+  output.point_step = offset;
+  output.row_step   = output.point_step * output.width;
+  // Convert the remaining of the channels to fields
+  for (size_t d = 0; d < input.channels.size (); ++d)
+    output.fields[3 + d].name = input.channels[d].name;
+  output.data.resize (input.points.size () * output.point_step);
+  output.is_bigendian = false;  // @todo ?
+  output.is_dense     = false;
+
+  // Copy the data points
+  for (size_t cp = 0; cp < input.points.size (); ++cp)
+  {
+    memcpy (&output.data[cp * output.point_step + output.fields[0].offset], &input.points[cp].x, sizeof (float));
+    memcpy (&output.data[cp * output.point_step + output.fields[1].offset], &input.points[cp].y, sizeof (float));
+    memcpy (&output.data[cp * output.point_step + output.fields[2].offset], &input.points[cp].z, sizeof (float));
+    for (size_t d = 0; d < input.channels.size (); ++d)
+    {
+      if (input.channels[d].values.size() == input.points.size())
+      {
+        memcpy (&output.data[cp * output.point_step + output.fields[3 + d].offset], &input.channels[d].values[cp], sizeof (float));
+      }
+    }
+  }
+  return (true);
+}
+
+  ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+  /** \brief Convert a sensor_msgs::PointCloud2 message to a sensor_msgs::PointCloud message.
+    * \param input the message in the sensor_msgs::PointCloud2 format
+    * \param output the resultant message in the sensor_msgs::PointCloud format
+    */ 
+static inline bool convertPointCloud2ToPointCloud (const sensor_msgs::PointCloud2 &input, sensor_msgs::PointCloud &output)
+{
+
+  output.header = input.header;
+  output.points.resize (input.width * input.height);
+  output.channels.resize (input.fields.size () - 3);
+  // Get the x/y/z field offsets
+  int x_idx = getPointCloud2FieldIndex (input, "x");
+  int y_idx = getPointCloud2FieldIndex (input, "y");
+  int z_idx = getPointCloud2FieldIndex (input, "z");
+  if (x_idx == -1 || y_idx == -1 || z_idx == -1)
+  {
+    std::cerr << "x/y/z coordinates not found! Cannot convert to sensor_msgs::PointCloud!" << std::endl;
+    return (false);
+  }
+  int x_offset = input.fields[x_idx].offset;
+  int y_offset = input.fields[y_idx].offset;
+  int z_offset = input.fields[z_idx].offset;
+  uint8_t x_datatype = input.fields[x_idx].datatype;
+  uint8_t y_datatype = input.fields[y_idx].datatype;
+  uint8_t z_datatype = input.fields[z_idx].datatype;
+   
+  // Convert the fields to channels
+  int cur_c = 0;
+  for (size_t d = 0; d < input.fields.size (); ++d)
+  {
+    if ((int)input.fields[d].offset == x_offset || (int)input.fields[d].offset == y_offset || (int)input.fields[d].offset == z_offset)
+      continue;
+    output.channels[cur_c].name = input.fields[d].name;
+    output.channels[cur_c].values.resize (output.points.size ());
+    cur_c++;
+  }
+
+  // Copy the data points
+  for (size_t cp = 0; cp < output.points.size (); ++cp)
+  {
+    // Copy x/y/z
+    output.points[cp].x = sensor_msgs::readPointCloud2BufferValue(&input.data[cp * input.point_step + x_offset], x_datatype);
+    output.points[cp].y = sensor_msgs::readPointCloud2BufferValue(&input.data[cp * input.point_step + y_offset], y_datatype);
+    output.points[cp].z = sensor_msgs::readPointCloud2BufferValue(&input.data[cp * input.point_step + z_offset], z_datatype);
+    // Copy the rest of the data
+    int cur_c = 0;
+    for (size_t d = 0; d < input.fields.size (); ++d)
+    {
+      if ((int)input.fields[d].offset == x_offset || (int)input.fields[d].offset == y_offset || (int)input.fields[d].offset == z_offset)
+        continue;
+      output.channels[cur_c++].values[cp] = sensor_msgs::readPointCloud2BufferValue(&input.data[cp * input.point_step + input.fields[d].offset], input.fields[d].datatype);
+    }
+  }
+  return (true);
+}
+}
+#endif// SENSOR_MSGS_POINT_CLOUD_CONVERSION_H
diff --git a/sensor_msgs/include/sensor_msgs/point_field_conversion.h b/sensor_msgs/include/sensor_msgs/point_field_conversion.h
new file mode 100644
index 0000000..0fe59e1
--- /dev/null
+++ b/sensor_msgs/include/sensor_msgs/point_field_conversion.h
@@ -0,0 +1,180 @@
+/*
+ * Software License Agreement (BSD License)
+ *
+ * Robot Operating System code by the University of Osnabrück
+ * Copyright (c) 2015, University of Osnabrück
+ * All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ *   1. Redistributions of source code must retain the above 
+ *      copyright notice, this list of conditions and the following
+ *      disclaimer.
+ *
+ *   2. Redistributions in binary form must reproduce the above 
+ *      copyright notice, this list of conditions and the following
+ *      disclaimer in the documentation and/or other materials provided
+ *      with the distribution.
+ *
+ *   3. Neither the name of the copyright holder nor the names of its
+ *      contributors may be used to endorse or promote products derived
+ *      from this software without specific prior written permission.
+ *
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED
+ * TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
+ * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
+ * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
+ * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
+ * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
+ * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
+ * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR
+ * OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF 
+ * ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+ *
+ *
+ *
+ * point_field_conversion.h
+ *
+ * Created on: 16.07.2015
+ *  Authors: Sebastian Pütz 
+ */
+
+#ifndef SENSOR_MSGS_POINT_FIELD_CONVERSION_H
+#define SENSOR_MSGS_POINT_FIELD_CONVERSION_H
+
+/** 
+  * \brief  This file provides a type to enum mapping for the different
+  *         PointField types and methods to read and write in 
+  *         a PointCloud2 buffer for the different PointField types.
+  * \author Sebastian Pütz
+  */
+namespace sensor_msgs{
+  /*!
+   * \Enum to type mapping.
+   */
+  template struct pointFieldTypeAsType {};
+  template<> struct pointFieldTypeAsType    { typedef int8_t   type; };
+  template<> struct pointFieldTypeAsType   { typedef uint8_t  type; };
+  template<> struct pointFieldTypeAsType   { typedef int16_t  type; };
+  template<> struct pointFieldTypeAsType  { typedef uint16_t type; };
+  template<> struct pointFieldTypeAsType   { typedef int32_t  type; };
+  template<> struct pointFieldTypeAsType  { typedef uint32_t type; };
+  template<> struct pointFieldTypeAsType { typedef float    type; };
+  template<> struct pointFieldTypeAsType { typedef double   type; };
+  
+  /*!
+   * \Type to enum mapping.
+   */
+  template struct typeAsPointFieldType {};
+  template<> struct typeAsPointFieldType   { static const uint8_t value = sensor_msgs::PointField::INT8;    };
+  template<> struct typeAsPointFieldType  { static const uint8_t value = sensor_msgs::PointField::UINT8;   };
+  template<> struct typeAsPointFieldType  { static const uint8_t value = sensor_msgs::PointField::INT16;   };
+  template<> struct typeAsPointFieldType { static const uint8_t value = sensor_msgs::PointField::UINT16;  };
+  template<> struct typeAsPointFieldType  { static const uint8_t value = sensor_msgs::PointField::INT32;   };
+  template<> struct typeAsPointFieldType { static const uint8_t value = sensor_msgs::PointField::UINT32;  };
+  template<> struct typeAsPointFieldType    { static const uint8_t value = sensor_msgs::PointField::FLOAT32; };
+  template<> struct typeAsPointFieldType   { static const uint8_t value = sensor_msgs::PointField::FLOAT64; };
+ 
+  /*!
+   * \Converts a value at the given pointer position, interpreted as the datatype
+   *  specified by the given template argument point_field_type, to the given
+   *  template type T and returns it.
+   * \param data_ptr            pointer into the point cloud 2 buffer
+   * \tparam point_field_type   sensor_msgs::PointField datatype value
+   * \tparam T                  return type
+   */
+  template
+    inline T readPointCloud2BufferValue(const unsigned char* data_ptr){
+      typedef typename pointFieldTypeAsType::type type;
+      return static_cast(*(reinterpret_cast(data_ptr)));
+    }
+  
+  /*!
+   * \Converts a value at the given pointer position interpreted as the datatype
+   *  specified by the given datatype parameter to the given template type and returns it.
+   * \param data_ptr    pointer into the point cloud 2 buffer
+   * \param datatype    sensor_msgs::PointField datatype value
+   * \tparam T          return type
+   */
+  template
+    inline T readPointCloud2BufferValue(const unsigned char* data_ptr, const unsigned char datatype){
+      switch(datatype){
+        case sensor_msgs::PointField::INT8:
+          return readPointCloud2BufferValue(data_ptr);
+        case sensor_msgs::PointField::UINT8:
+          return readPointCloud2BufferValue(data_ptr);
+        case sensor_msgs::PointField::INT16:
+          return readPointCloud2BufferValue(data_ptr);
+        case sensor_msgs::PointField::UINT16:
+          return readPointCloud2BufferValue(data_ptr);
+        case sensor_msgs::PointField::INT32:
+          return readPointCloud2BufferValue(data_ptr);
+        case sensor_msgs::PointField::UINT32:
+          return readPointCloud2BufferValue(data_ptr);
+        case sensor_msgs::PointField::FLOAT32:
+          return readPointCloud2BufferValue(data_ptr);
+        case sensor_msgs::PointField::FLOAT64:
+          return readPointCloud2BufferValue(data_ptr);
+      }
+      // This should never be reached, but return statement added to avoid compiler warning. (#84)
+      return T();
+    }
+
+  /*!
+   * \Inserts a given value at the given point position interpreted as the datatype
+   *  specified by the template argument point_field_type.
+   * \param data_ptr            pointer into the point cloud 2 buffer
+   * \param value               the value to insert
+   * \tparam point_field_type   sensor_msgs::PointField datatype value
+   * \tparam T                  type of the value to insert
+   */
+  template
+    inline void writePointCloud2BufferValue(unsigned char* data_ptr, T value){
+      typedef typename pointFieldTypeAsType::type type;
+      *(reinterpret_cast(data_ptr)) = static_cast(value);
+    }
+
+  /*!
+   * \Inserts a given value at the given point position interpreted as the datatype
+   *  specified by the given datatype parameter.
+   * \param data_ptr    pointer into the point cloud 2 buffer
+   * \param datatype    sensor_msgs::PointField datatype value
+   * \param value       the value to insert
+   * \tparam T          type of the value to insert
+   */
+  template
+    inline void writePointCloud2BufferValue(unsigned char* data_ptr, const unsigned char datatype, T value){
+      switch(datatype){
+        case sensor_msgs::PointField::INT8:
+          writePointCloud2BufferValue(data_ptr, value);
+          break;
+        case sensor_msgs::PointField::UINT8:
+          writePointCloud2BufferValue(data_ptr, value);
+          break;
+        case sensor_msgs::PointField::INT16:
+          writePointCloud2BufferValue(data_ptr, value);
+          break;
+        case sensor_msgs::PointField::UINT16:
+          writePointCloud2BufferValue(data_ptr, value);
+          break;
+        case sensor_msgs::PointField::INT32:
+          writePointCloud2BufferValue(data_ptr, value);
+          break;
+        case sensor_msgs::PointField::UINT32:
+          writePointCloud2BufferValue(data_ptr, value);
+          break;
+        case sensor_msgs::PointField::FLOAT32:
+          writePointCloud2BufferValue(data_ptr, value);
+          break;
+        case sensor_msgs::PointField::FLOAT64:
+          writePointCloud2BufferValue(data_ptr, value);
+          break;
+      }
+    }
+}
+
+#endif /* point_field_conversion.h */
diff --git a/sensor_msgs/test/CMakeCache.txt b/sensor_msgs/test/CMakeCache.txt
new file mode 100644
index 0000000..69637f2
--- /dev/null
+++ b/sensor_msgs/test/CMakeCache.txt
@@ -0,0 +1,372 @@
+# This is the CMakeCache file.
+# For build in directory: /home/duongtd/robotics_core/common_msgs/sensor_msgs/test
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+# You can edit this file to change values found and used by cmake.
+# If you do not want to change any of the values, simply exit the editor.
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+// Studio IDE projects all commands are done without /nologo.
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+//Value Computed by CMake
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+
+
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hhyRyw+g>24 & 0x00FF)
+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_C)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_C >= 0x5100
+   /* __SUNPRO_C = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_C>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_C>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_C    & 0xF)
+# endif
+
+#elif defined(__HP_cc)
+# define COMPILER_ID "HP"
+  /* __HP_cc = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_cc/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_cc/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_cc     % 100)
+
+#elif defined(__DECC)
+# define COMPILER_ID "Compaq"
+  /* __DECC_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECC_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECC_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECC_VER         % 10000)
+
+#elif defined(__IBMC__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__IBMC__) && !defined(__COMPILER_VER__) && __IBMC__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMC__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMC__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMC__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMC__    % 10)
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
+# define COMPILER_ID "Fujitsu"
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__TINYC__)
+# define COMPILER_ID "TinyCC"
+
+#elif defined(__BCC__)
+# define COMPILER_ID "Bruce"
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__)
+# define COMPILER_ID "GNU"
+# define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+#elif defined(__SDCC_VERSION_MAJOR) || defined(SDCC)
+# define COMPILER_ID "SDCC"
+# if defined(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MAJOR DEC(__SDCC_VERSION_MAJOR)
+#  define COMPILER_VERSION_MINOR DEC(__SDCC_VERSION_MINOR)
+#  define COMPILER_VERSION_PATCH DEC(__SDCC_VERSION_PATCH)
+# else
+  /* SDCC = VRP */
+#  define COMPILER_VERSION_MAJOR DEC(SDCC/100)
+#  define COMPILER_VERSION_MINOR DEC(SDCC/10 % 10)
+#  define COMPILER_VERSION_PATCH DEC(SDCC    % 10)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXE) || defined(__CRAYXC)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+
+#if !defined(__STDC__)
+# if (defined(_MSC_VER) && !defined(__clang__)) \
+  || (defined(__ibmxl__) || defined(__IBMC__))
+#  define C_DIALECT "90"
+# else
+#  define C_DIALECT
+# endif
+#elif __STDC_VERSION__ >= 201000L
+# define C_DIALECT "11"
+#elif __STDC_VERSION__ >= 199901L
+# define C_DIALECT "99"
+#else
+# define C_DIALECT "90"
+#endif
+const char* info_language_dialect_default =
+  "INFO" ":" "dialect_default[" C_DIALECT "]";
+
+/*--------------------------------------------------------------------------*/
+
+#ifdef ID_VOID_MAIN
+void main() {}
+#else
+# if defined(__CLASSIC_C__)
+int main(argc, argv) int argc; char *argv[];
+# else
+int main(int argc, char* argv[])
+# endif
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+  require += info_arch[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+  require += info_cray[argc];
+#endif
+  require += info_language_dialect_default[argc];
+  (void)argv;
+  return require;
+}
+#endif
diff --git a/sensor_msgs/test/CMakeFiles/3.16.3/CompilerIdC/a.out b/sensor_msgs/test/CMakeFiles/3.16.3/CompilerIdC/a.out
new file mode 100755
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+# define COMPILER_VERSION_MINOR HEX(__CODEGEARC_VERSION__>>16 & 0x00FF)
+# define COMPILER_VERSION_PATCH DEC(__CODEGEARC_VERSION__     & 0xFFFF)
+
+#elif defined(__BORLANDC__)
+# define COMPILER_ID "Borland"
+  /* __BORLANDC__ = 0xVRR */
+# define COMPILER_VERSION_MAJOR HEX(__BORLANDC__>>8)
+# define COMPILER_VERSION_MINOR HEX(__BORLANDC__ & 0xFF)
+
+#elif defined(__WATCOMC__) && __WATCOMC__ < 1200
+# define COMPILER_ID "Watcom"
+   /* __WATCOMC__ = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(__WATCOMC__ / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__WATCOMC__)
+# define COMPILER_ID "OpenWatcom"
+   /* __WATCOMC__ = VVRP + 1100 */
+# define COMPILER_VERSION_MAJOR DEC((__WATCOMC__ - 1100) / 100)
+# define COMPILER_VERSION_MINOR DEC((__WATCOMC__ / 10) % 10)
+# if (__WATCOMC__ % 10) > 0
+#  define COMPILER_VERSION_PATCH DEC(__WATCOMC__ % 10)
+# endif
+
+#elif defined(__SUNPRO_CC)
+# define COMPILER_ID "SunPro"
+# if __SUNPRO_CC >= 0x5100
+   /* __SUNPRO_CC = 0xVRRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>12)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xFF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# else
+   /* __SUNPRO_CC = 0xVRP */
+#  define COMPILER_VERSION_MAJOR HEX(__SUNPRO_CC>>8)
+#  define COMPILER_VERSION_MINOR HEX(__SUNPRO_CC>>4 & 0xF)
+#  define COMPILER_VERSION_PATCH HEX(__SUNPRO_CC    & 0xF)
+# endif
+
+#elif defined(__HP_aCC)
+# define COMPILER_ID "HP"
+  /* __HP_aCC = VVRRPP */
+# define COMPILER_VERSION_MAJOR DEC(__HP_aCC/10000)
+# define COMPILER_VERSION_MINOR DEC(__HP_aCC/100 % 100)
+# define COMPILER_VERSION_PATCH DEC(__HP_aCC     % 100)
+
+#elif defined(__DECCXX)
+# define COMPILER_ID "Compaq"
+  /* __DECCXX_VER = VVRRTPPPP */
+# define COMPILER_VERSION_MAJOR DEC(__DECCXX_VER/10000000)
+# define COMPILER_VERSION_MINOR DEC(__DECCXX_VER/100000  % 100)
+# define COMPILER_VERSION_PATCH DEC(__DECCXX_VER         % 10000)
+
+#elif defined(__IBMCPP__) && defined(__COMPILER_VER__)
+# define COMPILER_ID "zOS"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__ibmxl__) && defined(__clang__)
+# define COMPILER_ID "XLClang"
+# define COMPILER_VERSION_MAJOR DEC(__ibmxl_version__)
+# define COMPILER_VERSION_MINOR DEC(__ibmxl_release__)
+# define COMPILER_VERSION_PATCH DEC(__ibmxl_modification__)
+# define COMPILER_VERSION_TWEAK DEC(__ibmxl_ptf_fix_level__)
+
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ >= 800
+# define COMPILER_ID "XL"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__IBMCPP__) && !defined(__COMPILER_VER__) && __IBMCPP__ < 800
+# define COMPILER_ID "VisualAge"
+  /* __IBMCPP__ = VRP */
+# define COMPILER_VERSION_MAJOR DEC(__IBMCPP__/100)
+# define COMPILER_VERSION_MINOR DEC(__IBMCPP__/10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__IBMCPP__    % 10)
+
+#elif defined(__PGI)
+# define COMPILER_ID "PGI"
+# define COMPILER_VERSION_MAJOR DEC(__PGIC__)
+# define COMPILER_VERSION_MINOR DEC(__PGIC_MINOR__)
+# if defined(__PGIC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__PGIC_PATCHLEVEL__)
+# endif
+
+#elif defined(_CRAYC)
+# define COMPILER_ID "Cray"
+# define COMPILER_VERSION_MAJOR DEC(_RELEASE_MAJOR)
+# define COMPILER_VERSION_MINOR DEC(_RELEASE_MINOR)
+
+#elif defined(__TI_COMPILER_VERSION__)
+# define COMPILER_ID "TI"
+  /* __TI_COMPILER_VERSION__ = VVVRRRPPP */
+# define COMPILER_VERSION_MAJOR DEC(__TI_COMPILER_VERSION__/1000000)
+# define COMPILER_VERSION_MINOR DEC(__TI_COMPILER_VERSION__/1000   % 1000)
+# define COMPILER_VERSION_PATCH DEC(__TI_COMPILER_VERSION__        % 1000)
+
+#elif defined(__FUJITSU) || defined(__FCC_VERSION) || defined(__fcc_version)
+# define COMPILER_ID "Fujitsu"
+
+#elif defined(__ghs__)
+# define COMPILER_ID "GHS"
+/* __GHS_VERSION_NUMBER = VVVVRP */
+# ifdef __GHS_VERSION_NUMBER
+# define COMPILER_VERSION_MAJOR DEC(__GHS_VERSION_NUMBER / 100)
+# define COMPILER_VERSION_MINOR DEC(__GHS_VERSION_NUMBER / 10 % 10)
+# define COMPILER_VERSION_PATCH DEC(__GHS_VERSION_NUMBER      % 10)
+# endif
+
+#elif defined(__SCO_VERSION__)
+# define COMPILER_ID "SCO"
+
+#elif defined(__ARMCC_VERSION) && !defined(__clang__)
+# define COMPILER_ID "ARMCC"
+#if __ARMCC_VERSION >= 1000000
+  /* __ARMCC_VERSION = VRRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION     % 10000)
+#else
+  /* __ARMCC_VERSION = VRPPPP */
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCC_VERSION/100000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCC_VERSION/10000 % 10)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCC_VERSION    % 10000)
+#endif
+
+
+#elif defined(__clang__) && defined(__apple_build_version__)
+# define COMPILER_ID "AppleClang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+# define COMPILER_VERSION_TWEAK DEC(__apple_build_version__)
+
+#elif defined(__clang__) && defined(__ARMCOMPILER_VERSION)
+# define COMPILER_ID "ARMClang"
+  # define COMPILER_VERSION_MAJOR DEC(__ARMCOMPILER_VERSION/1000000)
+  # define COMPILER_VERSION_MINOR DEC(__ARMCOMPILER_VERSION/10000 % 100)
+  # define COMPILER_VERSION_PATCH DEC(__ARMCOMPILER_VERSION     % 10000)
+# define COMPILER_VERSION_INTERNAL DEC(__ARMCOMPILER_VERSION)
+
+#elif defined(__clang__)
+# define COMPILER_ID "Clang"
+# if defined(_MSC_VER)
+#  define SIMULATE_ID "MSVC"
+# endif
+# define COMPILER_VERSION_MAJOR DEC(__clang_major__)
+# define COMPILER_VERSION_MINOR DEC(__clang_minor__)
+# define COMPILER_VERSION_PATCH DEC(__clang_patchlevel__)
+# if defined(_MSC_VER)
+   /* _MSC_VER = VVRR */
+#  define SIMULATE_VERSION_MAJOR DEC(_MSC_VER / 100)
+#  define SIMULATE_VERSION_MINOR DEC(_MSC_VER % 100)
+# endif
+
+#elif defined(__GNUC__) || defined(__GNUG__)
+# define COMPILER_ID "GNU"
+# if defined(__GNUC__)
+#  define COMPILER_VERSION_MAJOR DEC(__GNUC__)
+# else
+#  define COMPILER_VERSION_MAJOR DEC(__GNUG__)
+# endif
+# if defined(__GNUC_MINOR__)
+#  define COMPILER_VERSION_MINOR DEC(__GNUC_MINOR__)
+# endif
+# if defined(__GNUC_PATCHLEVEL__)
+#  define COMPILER_VERSION_PATCH DEC(__GNUC_PATCHLEVEL__)
+# endif
+
+#elif defined(_MSC_VER)
+# define COMPILER_ID "MSVC"
+  /* _MSC_VER = VVRR */
+# define COMPILER_VERSION_MAJOR DEC(_MSC_VER / 100)
+# define COMPILER_VERSION_MINOR DEC(_MSC_VER % 100)
+# if defined(_MSC_FULL_VER)
+#  if _MSC_VER >= 1400
+    /* _MSC_FULL_VER = VVRRPPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 100000)
+#  else
+    /* _MSC_FULL_VER = VVRRPPPP */
+#   define COMPILER_VERSION_PATCH DEC(_MSC_FULL_VER % 10000)
+#  endif
+# endif
+# if defined(_MSC_BUILD)
+#  define COMPILER_VERSION_TWEAK DEC(_MSC_BUILD)
+# endif
+
+#elif defined(__VISUALDSPVERSION__) || defined(__ADSPBLACKFIN__) || defined(__ADSPTS__) || defined(__ADSP21000__)
+# define COMPILER_ID "ADSP"
+#if defined(__VISUALDSPVERSION__)
+  /* __VISUALDSPVERSION__ = 0xVVRRPP00 */
+# define COMPILER_VERSION_MAJOR HEX(__VISUALDSPVERSION__>>24)
+# define COMPILER_VERSION_MINOR HEX(__VISUALDSPVERSION__>>16 & 0xFF)
+# define COMPILER_VERSION_PATCH HEX(__VISUALDSPVERSION__>>8  & 0xFF)
+#endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# define COMPILER_ID "IAR"
+# if defined(__VER__) && defined(__ICCARM__)
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 1000000)
+#  define COMPILER_VERSION_MINOR DEC(((__VER__) / 1000) % 1000)
+#  define COMPILER_VERSION_PATCH DEC((__VER__) % 1000)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# elif defined(__VER__) && (defined(__ICCAVR__) || defined(__ICCRX__) || defined(__ICCRH850__) || defined(__ICCRL78__) || defined(__ICC430__) || defined(__ICCRISCV__) || defined(__ICCV850__) || defined(__ICC8051__))
+#  define COMPILER_VERSION_MAJOR DEC((__VER__) / 100)
+#  define COMPILER_VERSION_MINOR DEC((__VER__) - (((__VER__) / 100)*100))
+#  define COMPILER_VERSION_PATCH DEC(__SUBVERSION__)
+#  define COMPILER_VERSION_INTERNAL DEC(__IAR_SYSTEMS_ICC__)
+# endif
+
+
+/* These compilers are either not known or too old to define an
+  identification macro.  Try to identify the platform and guess that
+  it is the native compiler.  */
+#elif defined(__hpux) || defined(__hpua)
+# define COMPILER_ID "HP"
+
+#else /* unknown compiler */
+# define COMPILER_ID ""
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_compiler = "INFO" ":" "compiler[" COMPILER_ID "]";
+#ifdef SIMULATE_ID
+char const* info_simulate = "INFO" ":" "simulate[" SIMULATE_ID "]";
+#endif
+
+#ifdef __QNXNTO__
+char const* qnxnto = "INFO" ":" "qnxnto[]";
+#endif
+
+#if defined(__CRAYXE) || defined(__CRAYXC)
+char const *info_cray = "INFO" ":" "compiler_wrapper[CrayPrgEnv]";
+#endif
+
+#define STRINGIFY_HELPER(X) #X
+#define STRINGIFY(X) STRINGIFY_HELPER(X)
+
+/* Identify known platforms by name.  */
+#if defined(__linux) || defined(__linux__) || defined(linux)
+# define PLATFORM_ID "Linux"
+
+#elif defined(__CYGWIN__)
+# define PLATFORM_ID "Cygwin"
+
+#elif defined(__MINGW32__)
+# define PLATFORM_ID "MinGW"
+
+#elif defined(__APPLE__)
+# define PLATFORM_ID "Darwin"
+
+#elif defined(_WIN32) || defined(__WIN32__) || defined(WIN32)
+# define PLATFORM_ID "Windows"
+
+#elif defined(__FreeBSD__) || defined(__FreeBSD)
+# define PLATFORM_ID "FreeBSD"
+
+#elif defined(__NetBSD__) || defined(__NetBSD)
+# define PLATFORM_ID "NetBSD"
+
+#elif defined(__OpenBSD__) || defined(__OPENBSD)
+# define PLATFORM_ID "OpenBSD"
+
+#elif defined(__sun) || defined(sun)
+# define PLATFORM_ID "SunOS"
+
+#elif defined(_AIX) || defined(__AIX) || defined(__AIX__) || defined(__aix) || defined(__aix__)
+# define PLATFORM_ID "AIX"
+
+#elif defined(__hpux) || defined(__hpux__)
+# define PLATFORM_ID "HP-UX"
+
+#elif defined(__HAIKU__)
+# define PLATFORM_ID "Haiku"
+
+#elif defined(__BeOS) || defined(__BEOS__) || defined(_BEOS)
+# define PLATFORM_ID "BeOS"
+
+#elif defined(__QNX__) || defined(__QNXNTO__)
+# define PLATFORM_ID "QNX"
+
+#elif defined(__tru64) || defined(_tru64) || defined(__TRU64__)
+# define PLATFORM_ID "Tru64"
+
+#elif defined(__riscos) || defined(__riscos__)
+# define PLATFORM_ID "RISCos"
+
+#elif defined(__sinix) || defined(__sinix__) || defined(__SINIX__)
+# define PLATFORM_ID "SINIX"
+
+#elif defined(__UNIX_SV__)
+# define PLATFORM_ID "UNIX_SV"
+
+#elif defined(__bsdos__)
+# define PLATFORM_ID "BSDOS"
+
+#elif defined(_MPRAS) || defined(MPRAS)
+# define PLATFORM_ID "MP-RAS"
+
+#elif defined(__osf) || defined(__osf__)
+# define PLATFORM_ID "OSF1"
+
+#elif defined(_SCO_SV) || defined(SCO_SV) || defined(sco_sv)
+# define PLATFORM_ID "SCO_SV"
+
+#elif defined(__ultrix) || defined(__ultrix__) || defined(_ULTRIX)
+# define PLATFORM_ID "ULTRIX"
+
+#elif defined(__XENIX__) || defined(_XENIX) || defined(XENIX)
+# define PLATFORM_ID "Xenix"
+
+#elif defined(__WATCOMC__)
+# if defined(__LINUX__)
+#  define PLATFORM_ID "Linux"
+
+# elif defined(__DOS__)
+#  define PLATFORM_ID "DOS"
+
+# elif defined(__OS2__)
+#  define PLATFORM_ID "OS2"
+
+# elif defined(__WINDOWS__)
+#  define PLATFORM_ID "Windows3x"
+
+# else /* unknown platform */
+#  define PLATFORM_ID
+# endif
+
+#elif defined(__INTEGRITY)
+# if defined(INT_178B)
+#  define PLATFORM_ID "Integrity178"
+
+# else /* regular Integrity */
+#  define PLATFORM_ID "Integrity"
+# endif
+
+#else /* unknown platform */
+# define PLATFORM_ID
+
+#endif
+
+/* For windows compilers MSVC and Intel we can determine
+   the architecture of the compiler being used.  This is because
+   the compilers do not have flags that can change the architecture,
+   but rather depend on which compiler is being used
+*/
+#if defined(_WIN32) && defined(_MSC_VER)
+# if defined(_M_IA64)
+#  define ARCHITECTURE_ID "IA64"
+
+# elif defined(_M_X64) || defined(_M_AMD64)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# elif defined(_M_ARM64)
+#  define ARCHITECTURE_ID "ARM64"
+
+# elif defined(_M_ARM)
+#  if _M_ARM == 4
+#   define ARCHITECTURE_ID "ARMV4I"
+#  elif _M_ARM == 5
+#   define ARCHITECTURE_ID "ARMV5I"
+#  else
+#   define ARCHITECTURE_ID "ARMV" STRINGIFY(_M_ARM)
+#  endif
+
+# elif defined(_M_MIPS)
+#  define ARCHITECTURE_ID "MIPS"
+
+# elif defined(_M_SH)
+#  define ARCHITECTURE_ID "SHx"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__WATCOMC__)
+# if defined(_M_I86)
+#  define ARCHITECTURE_ID "I86"
+
+# elif defined(_M_IX86)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__IAR_SYSTEMS_ICC__) || defined(__IAR_SYSTEMS_ICC)
+# if defined(__ICCARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__ICCRX__)
+#  define ARCHITECTURE_ID "RX"
+
+# elif defined(__ICCRH850__)
+#  define ARCHITECTURE_ID "RH850"
+
+# elif defined(__ICCRL78__)
+#  define ARCHITECTURE_ID "RL78"
+
+# elif defined(__ICCRISCV__)
+#  define ARCHITECTURE_ID "RISCV"
+
+# elif defined(__ICCAVR__)
+#  define ARCHITECTURE_ID "AVR"
+
+# elif defined(__ICC430__)
+#  define ARCHITECTURE_ID "MSP430"
+
+# elif defined(__ICCV850__)
+#  define ARCHITECTURE_ID "V850"
+
+# elif defined(__ICC8051__)
+#  define ARCHITECTURE_ID "8051"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+
+#elif defined(__ghs__)
+# if defined(__PPC64__)
+#  define ARCHITECTURE_ID "PPC64"
+
+# elif defined(__ppc__)
+#  define ARCHITECTURE_ID "PPC"
+
+# elif defined(__ARM__)
+#  define ARCHITECTURE_ID "ARM"
+
+# elif defined(__x86_64__)
+#  define ARCHITECTURE_ID "x64"
+
+# elif defined(__i386__)
+#  define ARCHITECTURE_ID "X86"
+
+# else /* unknown architecture */
+#  define ARCHITECTURE_ID ""
+# endif
+#else
+#  define ARCHITECTURE_ID
+#endif
+
+/* Convert integer to decimal digit literals.  */
+#define DEC(n)                   \
+  ('0' + (((n) / 10000000)%10)), \
+  ('0' + (((n) / 1000000)%10)),  \
+  ('0' + (((n) / 100000)%10)),   \
+  ('0' + (((n) / 10000)%10)),    \
+  ('0' + (((n) / 1000)%10)),     \
+  ('0' + (((n) / 100)%10)),      \
+  ('0' + (((n) / 10)%10)),       \
+  ('0' +  ((n) % 10))
+
+/* Convert integer to hex digit literals.  */
+#define HEX(n)             \
+  ('0' + ((n)>>28 & 0xF)), \
+  ('0' + ((n)>>24 & 0xF)), \
+  ('0' + ((n)>>20 & 0xF)), \
+  ('0' + ((n)>>16 & 0xF)), \
+  ('0' + ((n)>>12 & 0xF)), \
+  ('0' + ((n)>>8  & 0xF)), \
+  ('0' + ((n)>>4  & 0xF)), \
+  ('0' + ((n)     & 0xF))
+
+/* Construct a string literal encoding the version number components. */
+#ifdef COMPILER_VERSION_MAJOR
+char const info_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','[',
+  COMPILER_VERSION_MAJOR,
+# ifdef COMPILER_VERSION_MINOR
+  '.', COMPILER_VERSION_MINOR,
+#  ifdef COMPILER_VERSION_PATCH
+   '.', COMPILER_VERSION_PATCH,
+#   ifdef COMPILER_VERSION_TWEAK
+    '.', COMPILER_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct a string literal encoding the internal version number. */
+#ifdef COMPILER_VERSION_INTERNAL
+char const info_version_internal[] = {
+  'I', 'N', 'F', 'O', ':',
+  'c','o','m','p','i','l','e','r','_','v','e','r','s','i','o','n','_',
+  'i','n','t','e','r','n','a','l','[',
+  COMPILER_VERSION_INTERNAL,']','\0'};
+#endif
+
+/* Construct a string literal encoding the version number components. */
+#ifdef SIMULATE_VERSION_MAJOR
+char const info_simulate_version[] = {
+  'I', 'N', 'F', 'O', ':',
+  's','i','m','u','l','a','t','e','_','v','e','r','s','i','o','n','[',
+  SIMULATE_VERSION_MAJOR,
+# ifdef SIMULATE_VERSION_MINOR
+  '.', SIMULATE_VERSION_MINOR,
+#  ifdef SIMULATE_VERSION_PATCH
+   '.', SIMULATE_VERSION_PATCH,
+#   ifdef SIMULATE_VERSION_TWEAK
+    '.', SIMULATE_VERSION_TWEAK,
+#   endif
+#  endif
+# endif
+  ']','\0'};
+#endif
+
+/* Construct the string literal in pieces to prevent the source from
+   getting matched.  Store it in a pointer rather than an array
+   because some compilers will just produce instructions to fill the
+   array rather than assigning a pointer to a static array.  */
+char const* info_platform = "INFO" ":" "platform[" PLATFORM_ID "]";
+char const* info_arch = "INFO" ":" "arch[" ARCHITECTURE_ID "]";
+
+
+
+
+#if defined(__INTEL_COMPILER) && defined(_MSVC_LANG) && _MSVC_LANG < 201403L
+#  if defined(__INTEL_CXX11_MODE__)
+#    if defined(__cpp_aggregate_nsdmi)
+#      define CXX_STD 201402L
+#    else
+#      define CXX_STD 201103L
+#    endif
+#  else
+#    define CXX_STD 199711L
+#  endif
+#elif defined(_MSC_VER) && defined(_MSVC_LANG)
+#  define CXX_STD _MSVC_LANG
+#else
+#  define CXX_STD __cplusplus
+#endif
+
+const char* info_language_dialect_default = "INFO" ":" "dialect_default["
+#if CXX_STD > 201703L
+  "20"
+#elif CXX_STD >= 201703L
+  "17"
+#elif CXX_STD >= 201402L
+  "14"
+#elif CXX_STD >= 201103L
+  "11"
+#else
+  "98"
+#endif
+"]";
+
+/*--------------------------------------------------------------------------*/
+
+int main(int argc, char* argv[])
+{
+  int require = 0;
+  require += info_compiler[argc];
+  require += info_platform[argc];
+#ifdef COMPILER_VERSION_MAJOR
+  require += info_version[argc];
+#endif
+#ifdef COMPILER_VERSION_INTERNAL
+  require += info_version_internal[argc];
+#endif
+#ifdef SIMULATE_ID
+  require += info_simulate[argc];
+#endif
+#ifdef SIMULATE_VERSION_MAJOR
+  require += info_simulate_version[argc];
+#endif
+#if defined(__CRAYXE) || defined(__CRAYXC)
+  require += info_cray[argc];
+#endif
+  require += info_language_dialect_default[argc];
+  (void)argv;
+  return require;
+}
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diff --git a/sensor_msgs/test/main.cpp b/sensor_msgs/test/main.cpp
new file mode 100644
index 0000000..b2ee40f
--- /dev/null
+++ b/sensor_msgs/test/main.cpp
@@ -0,0 +1,75 @@
+#include "sensor_msgs/BatteryState.h"
+#include "sensor_msgs/JoyFeedbackArray.h"
+#include "sensor_msgs/PointCloud2.h"
+#include 
+#include 
+
+bool getParams()
+{
+    try {
+        YAML::Node config = YAML::LoadFile("../cfg/config.yaml");
+
+        double cost_scaling_factor = config["inflation_layer"]["cost_scaling_factor"].as();
+        double inflation_radius = config["inflation_layer"]["inflation_radius"].as();
+
+        bool enabled = config["inflation_layer"]["enabled"].as();
+        bool inflate_unknown = config["inflation_layer"]["inflate_unknown"].as();
+
+        double distance = config["obstacle_layer"]["distance"].as();
+
+        std::cout << "Inflation Layer Parameters:" << std::endl;
+        std::cout << "  Cost Scaling Factor: " << cost_scaling_factor << std::endl;
+        std::cout << "  Inflation Radius: " << inflation_radius << std::endl;
+        std::cout << "  Enabled: " << (enabled ? "true" : "false") << std::endl;
+        std::cout << "  Inflate Unknown: " << (inflate_unknown ? "true" : "false") << std::endl;
+        std::cout << "Obstacle Layer Parameters:" << std::endl;
+        std::cout << "  Distance: " << distance << std::endl;
+        
+    } 
+    catch (const YAML::BadFile& e) {
+        std::cerr << "Cannot open YAML file: " << e.what() << std::endl;
+        return false;
+    }
+
+    return true;
+
+}
+
+int main()
+{
+  getParams();
+  sensor_msgs::BatteryState battery;
+
+  battery.header = std_msgs::Header::now("battery_frame");
+  battery.voltage = 12.5f;
+  battery.current = -1.2f;
+  battery.percentage = 0.85f;
+  battery.power_supply_status = sensor_msgs::BatteryState::POWER_SUPPLY_STATUS_DISCHARGING;
+
+  battery.cell_voltage = {4.15f, 4.18f, 4.12f};
+  battery.location = "slot_1";
+  battery.serial_number = "SN12345";
+
+  std::cout << "Battery header timestamp: " << battery.header.stamp << "\n";
+  std::cout << "Battery voltage: " << battery.voltage << " V\n";
+  std::cout << "Status: " << static_cast(battery.power_supply_status) << "\n";
+  std::cout << "Serial Number: " << battery.serial_number << "\n";
+
+  sensor_msgs::JoyFeedbackArray feedback_array;
+  feedback_array.array.push_back(sensor_msgs::JoyFeedback{sensor_msgs::JoyFeedback::TYPE_BUZZER, 0, 5000.0f});
+
+  std::cout << "First feedback type: " << static_cast(feedback_array.array[0].type) << "\n";
+  std::cout << "First feedback intensity: " << feedback_array.array[0].intensity << "\n";
+
+  sensor_msgs::PointCloud2 cloud;
+  cloud.header = std_msgs::Header::now("pointcloud_frame");
+  cloud.width = 100;
+  cloud.height = 1;
+
+  std::cout << "PointCloud2 header frame_id: " << cloud.header.frame_id << "\n";
+  std::cout << "PointCloud2 header timestamp: " << cloud.header.stamp << "\n";
+  std::cout << "PointCloud2 width: " << cloud.width << "\n";
+  std::cout << "PointCloud2 height: " << cloud.height << "\n";
+
+  return 0;
+}
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HcmV?d00001

diff --git a/std_msgs/CMakeLists.txt b/std_msgs/CMakeLists.txt
new file mode 100644
index 0000000..4438738
--- /dev/null
+++ b/std_msgs/CMakeLists.txt
@@ -0,0 +1,7 @@
+cmake_minimum_required(VERSION 3.10)
+project(std_msgs)
+
+set(CMAKE_CXX_STANDARD 17)
+
+add_library(std_msgs INTERFACE)
+target_include_directories(std_msgs INTERFACE ${CMAKE_CURRENT_SOURCE_DIR}/include)
diff --git a/std_msgs/include/std_msgs/Header.h b/std_msgs/include/std_msgs/Header.h
new file mode 100644
index 0000000..c276a41
--- /dev/null
+++ b/std_msgs/include/std_msgs/Header.h
@@ -0,0 +1,33 @@
+#ifndef STD_MSGS_HEADER_H
+#define STD_MSGS_HEADER_H
+
+#include 
+#include 
+#include 
+
+namespace std_msgs {
+
+struct Header
+{
+  uint32_t seq = 0;  // số thứ tự message
+  double stamp = 0.0; // thời gian theo giây (Unix time)
+  std::string frame_id;
+
+  Header() = default;
+
+  // Hàm tạo nhanh header với timestamp hiện tại
+  static Header now(const std::string& frame = "")
+  {
+    using namespace std::chrono;
+    double time_now = duration_cast>(system_clock::now().time_since_epoch()).count();
+    Header h;
+    h.seq = 0;
+    h.stamp = time_now;
+    h.frame_id = frame;
+    return h;
+  }
+};
+
+}  // namespace std_msgs
+
+#endif