From b3033113ea17e97584363dcd3241f462580a0328 Mon Sep 17 00:00:00 2001
From: duongtd <tdd149cm@gmail.com>
Date: Fri, 19 Dec 2025 14:41:04 +0700
Subject: [PATCH] add robot_protocol_msgs

---
 robot_protocol_msgs/CMakeLists.txt            |  36 ++++
 .../include/robot_protocol_msgs/Action.h      | 131 ++++++++++++
 .../robot_protocol_msgs/ActionParameter.h     |  69 +++++++
 .../robot_protocol_msgs/ControlPoint.h        |  75 +++++++
 .../include/robot_protocol_msgs/Edge.h        | 192 ++++++++++++++++++
 .../include/robot_protocol_msgs/Error.h       | 112 ++++++++++
 .../robot_protocol_msgs/ErrorReference.h      |  68 +++++++
 .../include/robot_protocol_msgs/Info.h        | 112 ++++++++++
 .../robot_protocol_msgs/InfoReference.h       |  69 +++++++
 .../include/robot_protocol_msgs/Information.h |  64 ++++++
 .../include/robot_protocol_msgs/Node.h        |  95 +++++++++
 .../robot_protocol_msgs/NodePosition.h        |  99 +++++++++
 .../include/robot_protocol_msgs/Order.h       | 120 +++++++++++
 .../include/robot_protocol_msgs/Trajectory.h  |  76 +++++++
 14 files changed, 1318 insertions(+)
 create mode 100644 robot_protocol_msgs/CMakeLists.txt
 create mode 100644 robot_protocol_msgs/include/robot_protocol_msgs/Action.h
 create mode 100644 robot_protocol_msgs/include/robot_protocol_msgs/ActionParameter.h
 create mode 100644 robot_protocol_msgs/include/robot_protocol_msgs/ControlPoint.h
 create mode 100644 robot_protocol_msgs/include/robot_protocol_msgs/Edge.h
 create mode 100644 robot_protocol_msgs/include/robot_protocol_msgs/Error.h
 create mode 100644 robot_protocol_msgs/include/robot_protocol_msgs/ErrorReference.h
 create mode 100644 robot_protocol_msgs/include/robot_protocol_msgs/Info.h
 create mode 100644 robot_protocol_msgs/include/robot_protocol_msgs/InfoReference.h
 create mode 100644 robot_protocol_msgs/include/robot_protocol_msgs/Information.h
 create mode 100644 robot_protocol_msgs/include/robot_protocol_msgs/Node.h
 create mode 100644 robot_protocol_msgs/include/robot_protocol_msgs/NodePosition.h
 create mode 100644 robot_protocol_msgs/include/robot_protocol_msgs/Order.h
 create mode 100644 robot_protocol_msgs/include/robot_protocol_msgs/Trajectory.h

diff --git a/robot_protocol_msgs/CMakeLists.txt b/robot_protocol_msgs/CMakeLists.txt
new file mode 100644
index 0000000..9c4de2b
--- /dev/null
+++ b/robot_protocol_msgs/CMakeLists.txt
@@ -0,0 +1,36 @@
+cmake_minimum_required(VERSION 3.10)
+project(robot_protocol_msgs)
+
+set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
+# Thư viện header-only
+add_library(robot_protocol_msgs INTERFACE)
+
+# Include path tới thư mục chứa file header
+target_include_directories(robot_protocol_msgs
+    INTERFACE
+        $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+        $<INSTALL_INTERFACE:include>
+)
+
+# Liên kết với std_msgs nếu bạn có file Header.h trong include/std_msgs/
+target_link_libraries(robot_protocol_msgs INTERFACE)
+
+# --- Cài đặt thư viện vào hệ thống khi chạy make install ---
+install(TARGETS robot_protocol_msgs
+  EXPORT robot_protocol_msgs-targets
+  INCLUDES DESTINATION include # Cài đặt include
+)
+
+# --- Xuất export set costmap_2dTargets thành file CMake module ---
+# --- Tạo file lib/cmake/robot_protocol_msgs/costmap_2dTargets.cmake ---
+# --- File này chứa cấu hình giúp project khác có thể dùng ---
+# --- Find_package(robot_protocol_msgs REQUIRED) ---
+# --- Target_link_libraries(my_app PRIVATE robot_protocol_msgs::robot_protocol_msgs) ---
+install(EXPORT robot_protocol_msgs-targets 
+  FILE robot_protocol_msgs-targets.cmake
+  NAMESPACE robot_protocol_msgs::
+  DESTINATION lib/cmake/robot_protocol_msgs
+)
+
diff --git a/robot_protocol_msgs/include/robot_protocol_msgs/Action.h b/robot_protocol_msgs/include/robot_protocol_msgs/Action.h
new file mode 100644
index 0000000..4d325e6
--- /dev/null
+++ b/robot_protocol_msgs/include/robot_protocol_msgs/Action.h
@@ -0,0 +1,131 @@
+// Generated by gencpp from file robot_protocol_msgs/Action.msg
+// DO NOT EDIT!
+
+
+#ifndef ROBOT_PROTOCOL_MSGS_MESSAGE_ACTION_H
+#define ROBOT_PROTOCOL_MSGS_MESSAGE_ACTION_H
+
+
+#include <string>
+#include <vector>
+#include <memory>
+
+#include <robot_protocol_msgs/ActionParameter.h>
+
+namespace robot_protocol_msgs
+{
+template <class ContainerAllocator>
+struct Action_
+{
+  typedef Action_<ContainerAllocator> Type;
+
+  Action_()
+    : actionType()
+    , actionId()
+    , actionDescription()
+    , blockingType()
+    , actionParameters()  {
+    }
+  Action_(const ContainerAllocator& _alloc)
+    : actionType(_alloc)
+    , actionId(_alloc)
+    , actionDescription(_alloc)
+    , blockingType(_alloc)
+    , actionParameters(_alloc)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _actionType_type;
+  _actionType_type actionType;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _actionId_type;
+  _actionId_type actionId;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _actionDescription_type;
+  _actionDescription_type actionDescription;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _blockingType_type;
+  _blockingType_type blockingType;
+
+   typedef std::vector< ::robot_protocol_msgs::ActionParameter_<ContainerAllocator> , typename std::allocator_traits<ContainerAllocator>::template rebind_alloc< ::robot_protocol_msgs::ActionParameter_<ContainerAllocator> >> _actionParameters_type;
+  _actionParameters_type actionParameters;
+
+
+
+// reducing the odds to have name collisions with Windows.h 
+#if defined(_WIN32) && defined(NONE)
+  #undef NONE
+#endif
+#if defined(_WIN32) && defined(SOFT)
+  #undef SOFT
+#endif
+#if defined(_WIN32) && defined(HARD)
+  #undef HARD
+#endif
+
+
+  static const std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> NONE;
+  static const std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> SOFT;
+  static const std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> HARD;
+
+  typedef boost::shared_ptr< ::robot_protocol_msgs::Action_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::robot_protocol_msgs::Action_<ContainerAllocator> const> ConstPtr;
+
+}; // struct Action_
+
+typedef ::robot_protocol_msgs::Action_<std::allocator<void> > Action;
+
+typedef boost::shared_ptr< ::robot_protocol_msgs::Action > ActionPtr;
+typedef boost::shared_ptr< ::robot_protocol_msgs::Action const> ActionConstPtr;
+
+// constants requiring out of line definition
+
+   
+   template<typename ContainerAllocator> const std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>
+      Action_<ContainerAllocator>::NONE =
+        
+          "NONE"
+        
+        ;
+   
+
+   
+   template<typename ContainerAllocator> const std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>
+      Action_<ContainerAllocator>::SOFT =
+        
+          "SOFT"
+        
+        ;
+   
+
+   
+   template<typename ContainerAllocator> const std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>
+      Action_<ContainerAllocator>::HARD =
+        
+          "HARD"
+        
+        ;
+
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::robot_protocol_msgs::Action_<ContainerAllocator1> & lhs, const ::robot_protocol_msgs::Action_<ContainerAllocator2> & rhs)
+{
+  return lhs.actionType == rhs.actionType &&
+    lhs.actionId == rhs.actionId &&
+    lhs.actionDescription == rhs.actionDescription &&
+    lhs.blockingType == rhs.blockingType &&
+    lhs.actionParameters == rhs.actionParameters;
+}
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::robot_protocol_msgs::Action_<ContainerAllocator1> & lhs, const ::robot_protocol_msgs::Action_<ContainerAllocator2> & rhs)
+{
+  return !(lhs == rhs);
+}
+
+
+} // namespace robot_protocol_msgs
+
+#endif // ROBOT_PROTOCOL_MSGS_MESSAGE_ACTION_H
diff --git a/robot_protocol_msgs/include/robot_protocol_msgs/ActionParameter.h b/robot_protocol_msgs/include/robot_protocol_msgs/ActionParameter.h
new file mode 100644
index 0000000..104f41b
--- /dev/null
+++ b/robot_protocol_msgs/include/robot_protocol_msgs/ActionParameter.h
@@ -0,0 +1,69 @@
+// Generated by gencpp from file robot_protocol_msgs/ActionParameter.msg
+// DO NOT EDIT!
+
+
+#ifndef ROBOT_PROTOCOL_MSGS_MESSAGE_ACTIONPARAMETER_H
+#define ROBOT_PROTOCOL_MSGS_MESSAGE_ACTIONPARAMETER_H
+
+
+#include <string>
+#include <vector>
+#include <memory>
+
+namespace robot_protocol_msgs
+{
+template <class ContainerAllocator>
+struct ActionParameter_
+{
+  typedef ActionParameter_<ContainerAllocator> Type;
+
+  ActionParameter_()
+    : key()
+    , value()  {
+    }
+  ActionParameter_(const ContainerAllocator& _alloc)
+    : key(_alloc)
+    , value(_alloc)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _key_type;
+  _key_type key;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _value_type;
+  _value_type value;
+
+
+
+
+
+  typedef boost::shared_ptr< ::robot_protocol_msgs::ActionParameter_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::robot_protocol_msgs::ActionParameter_<ContainerAllocator> const> ConstPtr;
+
+}; // struct ActionParameter_
+
+typedef ::robot_protocol_msgs::ActionParameter_<std::allocator<void> > ActionParameter;
+
+typedef boost::shared_ptr< ::robot_protocol_msgs::ActionParameter > ActionParameterPtr;
+typedef boost::shared_ptr< ::robot_protocol_msgs::ActionParameter const> ActionParameterConstPtr;
+
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::robot_protocol_msgs::ActionParameter_<ContainerAllocator1> & lhs, const ::robot_protocol_msgs::ActionParameter_<ContainerAllocator2> & rhs)
+{
+  return lhs.key == rhs.key &&
+    lhs.value == rhs.value;
+}
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::robot_protocol_msgs::ActionParameter_<ContainerAllocator1> & lhs, const ::robot_protocol_msgs::ActionParameter_<ContainerAllocator2> & rhs)
+{
+  return !(lhs == rhs);
+}
+
+
+} // namespace robot_protocol_msgs
+
+#endif // ROBOT_PROTOCOL_MSGS_MESSAGE_ACTIONPARAMETER_H
diff --git a/robot_protocol_msgs/include/robot_protocol_msgs/ControlPoint.h b/robot_protocol_msgs/include/robot_protocol_msgs/ControlPoint.h
new file mode 100644
index 0000000..5b2aeef
--- /dev/null
+++ b/robot_protocol_msgs/include/robot_protocol_msgs/ControlPoint.h
@@ -0,0 +1,75 @@
+// Generated by gencpp from file robot_protocol_msgs/ControlPoint.msg
+// DO NOT EDIT!
+
+
+#ifndef ROBOT_PROTOCOL_MSGS_MESSAGE_CONTROLPOINT_H
+#define ROBOT_PROTOCOL_MSGS_MESSAGE_CONTROLPOINT_H
+
+
+#include <string>
+#include <vector>
+#include <memory>
+
+namespace robot_protocol_msgs
+{
+template <class ContainerAllocator>
+struct ControlPoint_
+{
+  typedef ControlPoint_<ContainerAllocator> Type;
+
+  ControlPoint_()
+    : x(0.0)
+    , y(0.0)
+    , weight(0.0)  {
+    }
+  ControlPoint_(const ContainerAllocator& _alloc)
+    : x(0.0)
+    , y(0.0)
+    , weight(0.0)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef double _x_type;
+  _x_type x;
+
+   typedef double _y_type;
+  _y_type y;
+
+   typedef double _weight_type;
+  _weight_type weight;
+
+
+
+
+
+  typedef boost::shared_ptr< ::robot_protocol_msgs::ControlPoint_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::robot_protocol_msgs::ControlPoint_<ContainerAllocator> const> ConstPtr;
+
+}; // struct ControlPoint_
+
+typedef ::robot_protocol_msgs::ControlPoint_<std::allocator<void> > ControlPoint;
+
+typedef boost::shared_ptr< ::robot_protocol_msgs::ControlPoint > ControlPointPtr;
+typedef boost::shared_ptr< ::robot_protocol_msgs::ControlPoint const> ControlPointConstPtr;
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::robot_protocol_msgs::ControlPoint_<ContainerAllocator1> & lhs, const ::robot_protocol_msgs::ControlPoint_<ContainerAllocator2> & rhs)
+{
+  return lhs.x == rhs.x &&
+    lhs.y == rhs.y &&
+    lhs.weight == rhs.weight;
+}
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::robot_protocol_msgs::ControlPoint_<ContainerAllocator1> & lhs, const ::robot_protocol_msgs::ControlPoint_<ContainerAllocator2> & rhs)
+{
+  return !(lhs == rhs);
+}
+
+
+} // namespace robot_protocol_msgs
+
+
+#endif // ROBOT_PROTOCOL_MSGS_MESSAGE_CONTROLPOINT_H
diff --git a/robot_protocol_msgs/include/robot_protocol_msgs/Edge.h b/robot_protocol_msgs/include/robot_protocol_msgs/Edge.h
new file mode 100644
index 0000000..cb20b4c
--- /dev/null
+++ b/robot_protocol_msgs/include/robot_protocol_msgs/Edge.h
@@ -0,0 +1,192 @@
+// Generated by gencpp from file robot_protocol_msgs/Edge.msg
+// DO NOT EDIT!
+
+
+#ifndef ROBOT_PROTOCOL_MSGS_MESSAGE_EDGE_H
+#define ROBOT_PROTOCOL_MSGS_MESSAGE_EDGE_H
+
+
+#include <string>
+#include <vector>
+#include <memory>
+
+#include <robot_protocol_msgs/Trajectory.h>
+#include <robot_protocol_msgs/Action.h>
+
+namespace robot_protocol_msgs
+{
+template <class ContainerAllocator>
+struct Edge_
+{
+  typedef Edge_<ContainerAllocator> Type;
+
+  Edge_()
+    : edgeId()
+    , sequenceId(0)
+    , edgeDescription()
+    , released(false)
+    , startNodeId()
+    , endNodeId()
+    , maxSpeed(0.0)
+    , maxHeight(0.0)
+    , minHeight(0.0)
+    , orientation(0.0)
+    , orientationType()
+    , direction()
+    , rotationAllowed(false)
+    , maxRotationSpeed(0.0)
+    , trajectory()
+    , length(0.0)
+    , actions()  {
+    }
+  Edge_(const ContainerAllocator& _alloc)
+    : edgeId(_alloc)
+    , sequenceId(0)
+    , edgeDescription(_alloc)
+    , released(false)
+    , startNodeId(_alloc)
+    , endNodeId(_alloc)
+    , maxSpeed(0.0)
+    , maxHeight(0.0)
+    , minHeight(0.0)
+    , orientation(0.0)
+    , orientationType(_alloc)
+    , direction(_alloc)
+    , rotationAllowed(false)
+    , maxRotationSpeed(0.0)
+    , trajectory(_alloc)
+    , length(0.0)
+    , actions(_alloc)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _edgeId_type;
+  _edgeId_type edgeId;
+
+   typedef int32_t _sequenceId_type;
+  _sequenceId_type sequenceId;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _edgeDescription_type;
+  _edgeDescription_type edgeDescription;
+
+   typedef uint8_t _released_type;
+  _released_type released;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _startNodeId_type;
+  _startNodeId_type startNodeId;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _endNodeId_type;
+  _endNodeId_type endNodeId;
+
+   typedef double _maxSpeed_type;
+  _maxSpeed_type maxSpeed;
+
+   typedef double _maxHeight_type;
+  _maxHeight_type maxHeight;
+
+   typedef double _minHeight_type;
+  _minHeight_type minHeight;
+
+   typedef double _orientation_type;
+  _orientation_type orientation;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _orientationType_type;
+  _orientationType_type orientationType;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _direction_type;
+  _direction_type direction;
+
+   typedef uint8_t _rotationAllowed_type;
+  _rotationAllowed_type rotationAllowed;
+
+   typedef double _maxRotationSpeed_type;
+  _maxRotationSpeed_type maxRotationSpeed;
+
+   typedef  ::robot_protocol_msgs::Trajectory_<ContainerAllocator>  _trajectory_type;
+  _trajectory_type trajectory;
+
+   typedef double _length_type;
+  _length_type length;
+
+   typedef std::vector< ::robot_protocol_msgs::Action_<ContainerAllocator> , typename std::allocator_traits<ContainerAllocator>::template rebind_alloc< ::robot_protocol_msgs::Action_<ContainerAllocator> >> _actions_type;
+  _actions_type actions;
+
+
+
+// reducing the odds to have name collisions with Windows.h 
+#if defined(_WIN32) && defined(GLOBAL)
+  #undef GLOBAL
+#endif
+#if defined(_WIN32) && defined(TANGENTIAL)
+  #undef TANGENTIAL
+#endif
+
+
+  static const std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> GLOBAL;
+  static const std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> TANGENTIAL;
+
+  typedef boost::shared_ptr< ::robot_protocol_msgs::Edge_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::robot_protocol_msgs::Edge_<ContainerAllocator> const> ConstPtr;
+
+}; // struct Edge_
+
+typedef ::robot_protocol_msgs::Edge_<std::allocator<void> > Edge;
+
+typedef boost::shared_ptr< ::robot_protocol_msgs::Edge > EdgePtr;
+typedef boost::shared_ptr< ::robot_protocol_msgs::Edge const> EdgeConstPtr;
+
+// constants requiring out of line definition
+
+   
+   template<typename ContainerAllocator> const std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>
+      Edge_<ContainerAllocator>::GLOBAL =
+        
+          "GLOBAL"
+        
+        ;
+   
+
+   
+   template<typename ContainerAllocator> const std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>
+      Edge_<ContainerAllocator>::TANGENTIAL =
+        
+          "TANGENTIAL"
+        
+        ;
+   
+
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::robot_protocol_msgs::Edge_<ContainerAllocator1> & lhs, const ::robot_protocol_msgs::Edge_<ContainerAllocator2> & rhs)
+{
+  return lhs.edgeId == rhs.edgeId &&
+    lhs.sequenceId == rhs.sequenceId &&
+    lhs.edgeDescription == rhs.edgeDescription &&
+    lhs.released == rhs.released &&
+    lhs.startNodeId == rhs.startNodeId &&
+    lhs.endNodeId == rhs.endNodeId &&
+    lhs.maxSpeed == rhs.maxSpeed &&
+    lhs.maxHeight == rhs.maxHeight &&
+    lhs.minHeight == rhs.minHeight &&
+    lhs.orientation == rhs.orientation &&
+    lhs.orientationType == rhs.orientationType &&
+    lhs.direction == rhs.direction &&
+    lhs.rotationAllowed == rhs.rotationAllowed &&
+    lhs.maxRotationSpeed == rhs.maxRotationSpeed &&
+    lhs.trajectory == rhs.trajectory &&
+    lhs.length == rhs.length &&
+    lhs.actions == rhs.actions;
+}
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::robot_protocol_msgs::Edge_<ContainerAllocator1> & lhs, const ::robot_protocol_msgs::Edge_<ContainerAllocator2> & rhs)
+{
+  return !(lhs == rhs);
+}
+
+
+} // namespace robot_protocol_msgs
+
+#endif // ROBOT_PROTOCOL_MSGS_MESSAGE_EDGE_H
diff --git a/robot_protocol_msgs/include/robot_protocol_msgs/Error.h b/robot_protocol_msgs/include/robot_protocol_msgs/Error.h
new file mode 100644
index 0000000..44cdefd
--- /dev/null
+++ b/robot_protocol_msgs/include/robot_protocol_msgs/Error.h
@@ -0,0 +1,112 @@
+// Generated by gencpp from file robot_protocol_msgs/Error.msg
+// DO NOT EDIT!
+
+
+#ifndef ROBOT_PROTOCOL_MSGS_MESSAGE_ERROR_H
+#define ROBOT_PROTOCOL_MSGS_MESSAGE_ERROR_H
+
+
+#include <string>
+#include <vector>
+#include <memory>
+
+#include <robot_protocol_msgs/ErrorReference.h>
+
+namespace robot_protocol_msgs
+{
+template <class ContainerAllocator>
+struct Error_
+{
+  typedef Error_<ContainerAllocator> Type;
+
+  Error_()
+    : errorType()
+    , errorReferences()
+    , errorDescription()
+    , errorLevel()  {
+    }
+  Error_(const ContainerAllocator& _alloc)
+    : errorType(_alloc)
+    , errorReferences(_alloc)
+    , errorDescription(_alloc)
+    , errorLevel(_alloc)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _errorType_type;
+  _errorType_type errorType;
+
+   typedef std::vector< ::robot_protocol_msgs::ErrorReference_<ContainerAllocator> , typename std::allocator_traits<ContainerAllocator>::template rebind_alloc< ::robot_protocol_msgs::ErrorReference_<ContainerAllocator> >> _errorReferences_type;
+  _errorReferences_type errorReferences;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _errorDescription_type;
+  _errorDescription_type errorDescription;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _errorLevel_type;
+  _errorLevel_type errorLevel;
+
+
+
+// reducing the odds to have name collisions with Windows.h 
+#if defined(_WIN32) && defined(WARNING)
+  #undef WARNING
+#endif
+#if defined(_WIN32) && defined(FATAL)
+  #undef FATAL
+#endif
+
+
+  static const std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> WARNING;
+  static const std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> FATAL;
+
+  typedef boost::shared_ptr< ::robot_protocol_msgs::Error_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::robot_protocol_msgs::Error_<ContainerAllocator> const> ConstPtr;
+
+}; // struct Error_
+
+typedef ::robot_protocol_msgs::Error_<std::allocator<void> > Error;
+
+typedef boost::shared_ptr< ::robot_protocol_msgs::Error > ErrorPtr;
+typedef boost::shared_ptr< ::robot_protocol_msgs::Error const> ErrorConstPtr;
+
+// constants requiring out of line definition
+
+   
+   template<typename ContainerAllocator> const std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>
+      Error_<ContainerAllocator>::WARNING =
+        
+          "WARNING"
+        
+        ;
+   
+
+   
+   template<typename ContainerAllocator> const std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>
+      Error_<ContainerAllocator>::FATAL =
+        
+          "FATAL"
+        
+        ;
+
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::robot_protocol_msgs::Error_<ContainerAllocator1> & lhs, const ::robot_protocol_msgs::Error_<ContainerAllocator2> & rhs)
+{
+  return lhs.errorType == rhs.errorType &&
+    lhs.errorReferences == rhs.errorReferences &&
+    lhs.errorDescription == rhs.errorDescription &&
+    lhs.errorLevel == rhs.errorLevel;
+}
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::robot_protocol_msgs::Error_<ContainerAllocator1> & lhs, const ::robot_protocol_msgs::Error_<ContainerAllocator2> & rhs)
+{
+  return !(lhs == rhs);
+}
+
+
+} // namespace robot_protocol_msgs
+
+#endif // ROBOT_PROTOCOL_MSGS_MESSAGE_ERROR_H
diff --git a/robot_protocol_msgs/include/robot_protocol_msgs/ErrorReference.h b/robot_protocol_msgs/include/robot_protocol_msgs/ErrorReference.h
new file mode 100644
index 0000000..0f056b6
--- /dev/null
+++ b/robot_protocol_msgs/include/robot_protocol_msgs/ErrorReference.h
@@ -0,0 +1,68 @@
+// Generated by gencpp from file robot_protocol_msgs/ErrorReference.msg
+// DO NOT EDIT!
+
+
+#ifndef ROBOT_PROTOCOL_MSGS_MESSAGE_ERRORREFERENCE_H
+#define ROBOT_PROTOCOL_MSGS_MESSAGE_ERRORREFERENCE_H
+
+
+#include <string>
+#include <vector>
+#include <memory>
+
+namespace robot_protocol_msgs
+{
+template <class ContainerAllocator>
+struct ErrorReference_
+{
+  typedef ErrorReference_<ContainerAllocator> Type;
+
+  ErrorReference_()
+    : referenceKey()
+    , referenceValue()  {
+    }
+  ErrorReference_(const ContainerAllocator& _alloc)
+    : referenceKey(_alloc)
+    , referenceValue(_alloc)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _referenceKey_type;
+  _referenceKey_type referenceKey;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _referenceValue_type;
+  _referenceValue_type referenceValue;
+
+
+
+
+
+  typedef boost::shared_ptr< ::robot_protocol_msgs::ErrorReference_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::robot_protocol_msgs::ErrorReference_<ContainerAllocator> const> ConstPtr;
+
+}; // struct ErrorReference_
+
+typedef ::robot_protocol_msgs::ErrorReference_<std::allocator<void> > ErrorReference;
+
+typedef boost::shared_ptr< ::robot_protocol_msgs::ErrorReference > ErrorReferencePtr;
+typedef boost::shared_ptr< ::robot_protocol_msgs::ErrorReference const> ErrorReferenceConstPtr;
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::robot_protocol_msgs::ErrorReference_<ContainerAllocator1> & lhs, const ::robot_protocol_msgs::ErrorReference_<ContainerAllocator2> & rhs)
+{
+  return lhs.referenceKey == rhs.referenceKey &&
+    lhs.referenceValue == rhs.referenceValue;
+}
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::robot_protocol_msgs::ErrorReference_<ContainerAllocator1> & lhs, const ::robot_protocol_msgs::ErrorReference_<ContainerAllocator2> & rhs)
+{
+  return !(lhs == rhs);
+}
+
+
+} // namespace robot_protocol_msgs
+
+#endif // ROBOT_PROTOCOL_MSGS_MESSAGE_ERRORREFERENCE_H
diff --git a/robot_protocol_msgs/include/robot_protocol_msgs/Info.h b/robot_protocol_msgs/include/robot_protocol_msgs/Info.h
new file mode 100644
index 0000000..2db1061
--- /dev/null
+++ b/robot_protocol_msgs/include/robot_protocol_msgs/Info.h
@@ -0,0 +1,112 @@
+// Generated by gencpp from file robot_protocol_msgs/Info.msg
+// DO NOT EDIT!
+
+
+#ifndef ROBOT_PROTOCOL_MSGS_MESSAGE_INFO_H
+#define ROBOT_PROTOCOL_MSGS_MESSAGE_INFO_H
+
+
+#include <string>
+#include <vector>
+#include <memory>
+
+#include <robot_protocol_msgs/InfoReference.h>
+
+namespace robot_protocol_msgs
+{
+template <class ContainerAllocator>
+struct Info_
+{
+  typedef Info_<ContainerAllocator> Type;
+
+  Info_()
+    : infoType()
+    , infoReferences()
+    , infoDescription()
+    , infoLevel()  {
+    }
+  Info_(const ContainerAllocator& _alloc)
+    : infoType(_alloc)
+    , infoReferences(_alloc)
+    , infoDescription(_alloc)
+    , infoLevel(_alloc)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _infoType_type;
+  _infoType_type infoType;
+
+   typedef std::vector< ::robot_protocol_msgs::InfoReference_<ContainerAllocator> , typename std::allocator_traits<ContainerAllocator>::template rebind_alloc< ::robot_protocol_msgs::InfoReference_<ContainerAllocator> >> _infoReferences_type;
+  _infoReferences_type infoReferences;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _infoDescription_type;
+  _infoDescription_type infoDescription;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _infoLevel_type;
+  _infoLevel_type infoLevel;
+
+
+
+// reducing the odds to have name collisions with Windows.h 
+#if defined(_WIN32) && defined(DEBUG)
+  #undef DEBUG
+#endif
+#if defined(_WIN32) && defined(INFO)
+  #undef INFO
+#endif
+
+
+  static const std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> DEBUG;
+  static const std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> INFO;
+
+  typedef boost::shared_ptr< ::robot_protocol_msgs::Info_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::robot_protocol_msgs::Info_<ContainerAllocator> const> ConstPtr;
+
+}; // struct Info_
+
+typedef ::robot_protocol_msgs::Info_<std::allocator<void> > Info;
+
+typedef boost::shared_ptr< ::robot_protocol_msgs::Info > InfoPtr;
+typedef boost::shared_ptr< ::robot_protocol_msgs::Info const> InfoConstPtr;
+
+// constants requiring out of line definition
+
+   
+   template<typename ContainerAllocator> const std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>
+      Info_<ContainerAllocator>::DEBUG =
+        
+          "DEBUG"
+        
+        ;
+   
+
+   
+   template<typename ContainerAllocator> const std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>
+      Info_<ContainerAllocator>::INFO =
+        
+          "INFO"
+        
+        ;
+   
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::robot_protocol_msgs::Info_<ContainerAllocator1> & lhs, const ::robot_protocol_msgs::Info_<ContainerAllocator2> & rhs)
+{
+  return lhs.infoType == rhs.infoType &&
+    lhs.infoReferences == rhs.infoReferences &&
+    lhs.infoDescription == rhs.infoDescription &&
+    lhs.infoLevel == rhs.infoLevel;
+}
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::robot_protocol_msgs::Info_<ContainerAllocator1> & lhs, const ::robot_protocol_msgs::Info_<ContainerAllocator2> & rhs)
+{
+  return !(lhs == rhs);
+}
+
+
+} // namespace robot_protocol_msgs
+
+#endif // ROBOT_PROTOCOL_MSGS_MESSAGE_INFO_H
diff --git a/robot_protocol_msgs/include/robot_protocol_msgs/InfoReference.h b/robot_protocol_msgs/include/robot_protocol_msgs/InfoReference.h
new file mode 100644
index 0000000..bdf6cf9
--- /dev/null
+++ b/robot_protocol_msgs/include/robot_protocol_msgs/InfoReference.h
@@ -0,0 +1,69 @@
+// Generated by gencpp from file robot_protocol_msgs/InfoReference.msg
+// DO NOT EDIT!
+
+
+#ifndef ROBOT_PROTOCOL_MSGS_MESSAGE_INFOREFERENCE_H
+#define ROBOT_PROTOCOL_MSGS_MESSAGE_INFOREFERENCE_H
+
+
+#include <string>
+#include <vector>
+#include <memory>
+
+namespace robot_protocol_msgs
+{
+template <class ContainerAllocator>
+struct InfoReference_
+{
+  typedef InfoReference_<ContainerAllocator> Type;
+
+  InfoReference_()
+    : referenceKey()
+    , referenceValue()  {
+    }
+  InfoReference_(const ContainerAllocator& _alloc)
+    : referenceKey(_alloc)
+    , referenceValue(_alloc)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _referenceKey_type;
+  _referenceKey_type referenceKey;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _referenceValue_type;
+  _referenceValue_type referenceValue;
+
+
+
+
+
+  typedef boost::shared_ptr< ::robot_protocol_msgs::InfoReference_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::robot_protocol_msgs::InfoReference_<ContainerAllocator> const> ConstPtr;
+
+}; // struct InfoReference_
+
+typedef ::robot_protocol_msgs::InfoReference_<std::allocator<void> > InfoReference;
+
+typedef boost::shared_ptr< ::robot_protocol_msgs::InfoReference > InfoReferencePtr;
+typedef boost::shared_ptr< ::robot_protocol_msgs::InfoReference const> InfoReferenceConstPtr;
+
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::robot_protocol_msgs::InfoReference_<ContainerAllocator1> & lhs, const ::robot_protocol_msgs::InfoReference_<ContainerAllocator2> & rhs)
+{
+  return lhs.referenceKey == rhs.referenceKey &&
+    lhs.referenceValue == rhs.referenceValue;
+}
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::robot_protocol_msgs::InfoReference_<ContainerAllocator1> & lhs, const ::robot_protocol_msgs::InfoReference_<ContainerAllocator2> & rhs)
+{
+  return !(lhs == rhs);
+}
+
+
+} // namespace robot_protocol_msgs
+
+#endif // ROBOT_PROTOCOL_MSGS_MESSAGE_INFOREFERENCE_H
diff --git a/robot_protocol_msgs/include/robot_protocol_msgs/Information.h b/robot_protocol_msgs/include/robot_protocol_msgs/Information.h
new file mode 100644
index 0000000..39f2d7e
--- /dev/null
+++ b/robot_protocol_msgs/include/robot_protocol_msgs/Information.h
@@ -0,0 +1,64 @@
+// Generated by gencpp from file robot_protocol_msgs/Information.msg
+// DO NOT EDIT!
+
+
+#ifndef ROBOT_PROTOCOL_MSGS_MESSAGE_INFORMATION_H
+#define ROBOT_PROTOCOL_MSGS_MESSAGE_INFORMATION_H
+
+
+#include <string>
+#include <vector>
+#include <memory>
+
+#include <robot_protocol_msgs/Info.h>
+
+namespace robot_protocol_msgs
+{
+template <class ContainerAllocator>
+struct Information_
+{
+  typedef Information_<ContainerAllocator> Type;
+
+  Information_()
+    : information()  {
+    }
+  Information_(const ContainerAllocator& _alloc)
+    : information(_alloc)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef std::vector< ::robot_protocol_msgs::Info_<ContainerAllocator> , typename std::allocator_traits<ContainerAllocator>::template rebind_alloc< ::robot_protocol_msgs::Info_<ContainerAllocator> >> _information_type;
+  _information_type information;
+
+
+
+
+
+  typedef boost::shared_ptr< ::robot_protocol_msgs::Information_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::robot_protocol_msgs::Information_<ContainerAllocator> const> ConstPtr;
+
+}; // struct Information_
+
+typedef ::robot_protocol_msgs::Information_<std::allocator<void> > Information;
+
+typedef boost::shared_ptr< ::robot_protocol_msgs::Information > InformationPtr;
+typedef boost::shared_ptr< ::robot_protocol_msgs::Information const> InformationConstPtr;
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::robot_protocol_msgs::Information_<ContainerAllocator1> & lhs, const ::robot_protocol_msgs::Information_<ContainerAllocator2> & rhs)
+{
+  return lhs.information == rhs.information;
+}
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::robot_protocol_msgs::Information_<ContainerAllocator1> & lhs, const ::robot_protocol_msgs::Information_<ContainerAllocator2> & rhs)
+{
+  return !(lhs == rhs);
+}
+
+
+} // namespace robot_protocol_msgs
+
+#endif // ROBOT_PROTOCOL_MSGS_MESSAGE_INFORMATION_H
diff --git a/robot_protocol_msgs/include/robot_protocol_msgs/Node.h b/robot_protocol_msgs/include/robot_protocol_msgs/Node.h
new file mode 100644
index 0000000..490675b
--- /dev/null
+++ b/robot_protocol_msgs/include/robot_protocol_msgs/Node.h
@@ -0,0 +1,95 @@
+// Generated by gencpp from file robot_protocol_msgs/Node.msg
+// DO NOT EDIT!
+
+
+#ifndef ROBOT_PROTOCOL_MSGS_MESSAGE_NODE_H
+#define ROBOT_PROTOCOL_MSGS_MESSAGE_NODE_H
+
+
+#include <string>
+#include <vector>
+#include <memory>
+
+#include <robot_protocol_msgs/NodePosition.h>
+#include <robot_protocol_msgs/Action.h>
+
+namespace robot_protocol_msgs
+{
+template <class ContainerAllocator>
+struct Node_
+{
+  typedef Node_<ContainerAllocator> Type;
+
+  Node_()
+    : nodeId()
+    , sequenceId(0)
+    , nodeDescription()
+    , released(false)
+    , nodePosition()
+    , actions()  {
+    }
+  Node_(const ContainerAllocator& _alloc)
+    : nodeId(_alloc)
+    , sequenceId(0)
+    , nodeDescription(_alloc)
+    , released(false)
+    , nodePosition(_alloc)
+    , actions(_alloc)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _nodeId_type;
+  _nodeId_type nodeId;
+
+   typedef int32_t _sequenceId_type;
+  _sequenceId_type sequenceId;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _nodeDescription_type;
+  _nodeDescription_type nodeDescription;
+
+   typedef uint8_t _released_type;
+  _released_type released;
+
+   typedef  ::robot_protocol_msgs::NodePosition_<ContainerAllocator>  _nodePosition_type;
+  _nodePosition_type nodePosition;
+
+   typedef std::vector< ::robot_protocol_msgs::Action_<ContainerAllocator> , typename std::allocator_traits<ContainerAllocator>::template rebind_alloc< ::robot_protocol_msgs::Action_<ContainerAllocator> >> _actions_type;
+  _actions_type actions;
+
+
+
+
+
+  typedef boost::shared_ptr< ::robot_protocol_msgs::Node_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::robot_protocol_msgs::Node_<ContainerAllocator> const> ConstPtr;
+
+}; // struct Node_
+
+typedef ::robot_protocol_msgs::Node_<std::allocator<void> > Node;
+
+typedef boost::shared_ptr< ::robot_protocol_msgs::Node > NodePtr;
+typedef boost::shared_ptr< ::robot_protocol_msgs::Node const> NodeConstPtr;
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::robot_protocol_msgs::Node_<ContainerAllocator1> & lhs, const ::robot_protocol_msgs::Node_<ContainerAllocator2> & rhs)
+{
+  return lhs.nodeId == rhs.nodeId &&
+    lhs.sequenceId == rhs.sequenceId &&
+    lhs.nodeDescription == rhs.nodeDescription &&
+    lhs.released == rhs.released &&
+    lhs.nodePosition == rhs.nodePosition &&
+    lhs.actions == rhs.actions;
+}
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::robot_protocol_msgs::Node_<ContainerAllocator1> & lhs, const ::robot_protocol_msgs::Node_<ContainerAllocator2> & rhs)
+{
+  return !(lhs == rhs);
+}
+
+
+} // namespace robot_protocol_msgs
+
+#endif // ROBOT_PROTOCOL_MSGS_MESSAGE_NODE_H
diff --git a/robot_protocol_msgs/include/robot_protocol_msgs/NodePosition.h b/robot_protocol_msgs/include/robot_protocol_msgs/NodePosition.h
new file mode 100644
index 0000000..8613654
--- /dev/null
+++ b/robot_protocol_msgs/include/robot_protocol_msgs/NodePosition.h
@@ -0,0 +1,99 @@
+// Generated by gencpp from file robot_protocol_msgs/NodePosition.msg
+// DO NOT EDIT!
+
+
+#ifndef ROBOT_PROTOCOL_MSGS_MESSAGE_NODEPOSITION_H
+#define ROBOT_PROTOCOL_MSGS_MESSAGE_NODEPOSITION_H
+
+
+#include <string>
+#include <vector>
+#include <memory>
+
+namespace robot_protocol_msgs
+{
+template <class ContainerAllocator>
+struct NodePosition_
+{
+  typedef NodePosition_<ContainerAllocator> Type;
+
+  NodePosition_()
+    : x(0.0)
+    , y(0.0)
+    , theta(0.0)
+    , allowedDeviationXY(0.0)
+    , allowedDeviationTheta(0.0)
+    , mapId()
+    , mapDescription()  {
+    }
+  NodePosition_(const ContainerAllocator& _alloc)
+    : x(0.0)
+    , y(0.0)
+    , theta(0.0)
+    , allowedDeviationXY(0.0)
+    , allowedDeviationTheta(0.0)
+    , mapId(_alloc)
+    , mapDescription(_alloc)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef double _x_type;
+  _x_type x;
+
+   typedef double _y_type;
+  _y_type y;
+
+   typedef double _theta_type;
+  _theta_type theta;
+
+   typedef float _allowedDeviationXY_type;
+  _allowedDeviationXY_type allowedDeviationXY;
+
+   typedef float _allowedDeviationTheta_type;
+  _allowedDeviationTheta_type allowedDeviationTheta;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _mapId_type;
+  _mapId_type mapId;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _mapDescription_type;
+  _mapDescription_type mapDescription;
+
+
+
+
+
+  typedef boost::shared_ptr< ::robot_protocol_msgs::NodePosition_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::robot_protocol_msgs::NodePosition_<ContainerAllocator> const> ConstPtr;
+
+}; // struct NodePosition_
+
+typedef ::robot_protocol_msgs::NodePosition_<std::allocator<void> > NodePosition;
+
+typedef boost::shared_ptr< ::robot_protocol_msgs::NodePosition > NodePositionPtr;
+typedef boost::shared_ptr< ::robot_protocol_msgs::NodePosition const> NodePositionConstPtr;
+
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::robot_protocol_msgs::NodePosition_<ContainerAllocator1> & lhs, const ::robot_protocol_msgs::NodePosition_<ContainerAllocator2> & rhs)
+{
+  return lhs.x == rhs.x &&
+    lhs.y == rhs.y &&
+    lhs.theta == rhs.theta &&
+    lhs.allowedDeviationXY == rhs.allowedDeviationXY &&
+    lhs.allowedDeviationTheta == rhs.allowedDeviationTheta &&
+    lhs.mapId == rhs.mapId &&
+    lhs.mapDescription == rhs.mapDescription;
+}
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::robot_protocol_msgs::NodePosition_<ContainerAllocator1> & lhs, const ::robot_protocol_msgs::NodePosition_<ContainerAllocator2> & rhs)
+{
+  return !(lhs == rhs);
+}
+
+
+} // namespace robot_protocol_msgs
+
+#endif // ROBOT_PROTOCOL_MSGS_MESSAGE_NODEPOSITION_H
diff --git a/robot_protocol_msgs/include/robot_protocol_msgs/Order.h b/robot_protocol_msgs/include/robot_protocol_msgs/Order.h
new file mode 100644
index 0000000..58b7d6e
--- /dev/null
+++ b/robot_protocol_msgs/include/robot_protocol_msgs/Order.h
@@ -0,0 +1,120 @@
+// Generated by gencpp from file robot_protocol_msgs/Order.msg
+// DO NOT EDIT!
+
+
+#ifndef ROBOT_PROTOCOL_MSGS_MESSAGE_ORDER_H
+#define ROBOT_PROTOCOL_MSGS_MESSAGE_ORDER_H
+
+
+#include <string>
+#include <vector>
+#include <memory>
+
+#include <robot_protocol_msgs/Node.h>
+#include <robot_protocol_msgs/Edge.h>
+
+namespace robot_protocol_msgs
+{
+template <class ContainerAllocator>
+struct Order_
+{
+  typedef Order_<ContainerAllocator> Type;
+
+  Order_()
+    : headerId(0)
+    , timestamp()
+    , version()
+    , manufacturer()
+    , serialNumber()
+    , orderId()
+    , orderUpdateId(0)
+    , nodes()
+    , edges()
+    , zoneSetId()  {
+    }
+  Order_(const ContainerAllocator& _alloc)
+    : headerId(0)
+    , timestamp(_alloc)
+    , version(_alloc)
+    , manufacturer(_alloc)
+    , serialNumber(_alloc)
+    , orderId(_alloc)
+    , orderUpdateId(0)
+    , nodes(_alloc)
+    , edges(_alloc)
+    , zoneSetId(_alloc)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef int32_t _headerId_type;
+  _headerId_type headerId;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _timestamp_type;
+  _timestamp_type timestamp;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _version_type;
+  _version_type version;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _manufacturer_type;
+  _manufacturer_type manufacturer;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _serialNumber_type;
+  _serialNumber_type serialNumber;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _orderId_type;
+  _orderId_type orderId;
+
+   typedef uint32_t _orderUpdateId_type;
+  _orderUpdateId_type orderUpdateId;
+
+   typedef std::vector< ::robot_protocol_msgs::Node_<ContainerAllocator> , typename std::allocator_traits<ContainerAllocator>::template rebind_alloc< ::robot_protocol_msgs::Node_<ContainerAllocator> >> _nodes_type;
+  _nodes_type nodes;
+
+   typedef std::vector< ::robot_protocol_msgs::Edge_<ContainerAllocator> , typename std::allocator_traits<ContainerAllocator>::template rebind_alloc< ::robot_protocol_msgs::Edge_<ContainerAllocator> >> _edges_type;
+  _edges_type edges;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _zoneSetId_type;
+  _zoneSetId_type zoneSetId;
+
+
+
+
+
+  typedef boost::shared_ptr< ::robot_protocol_msgs::Order_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::robot_protocol_msgs::Order_<ContainerAllocator> const> ConstPtr;
+
+}; // struct Order_
+
+typedef ::robot_protocol_msgs::Order_<std::allocator<void> > Order;
+
+typedef boost::shared_ptr< ::robot_protocol_msgs::Order > OrderPtr;
+typedef boost::shared_ptr< ::robot_protocol_msgs::Order const> OrderConstPtr;
+
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::robot_protocol_msgs::Order_<ContainerAllocator1> & lhs, const ::robot_protocol_msgs::Order_<ContainerAllocator2> & rhs)
+{
+  return lhs.headerId == rhs.headerId &&
+    lhs.timestamp == rhs.timestamp &&
+    lhs.version == rhs.version &&
+    lhs.manufacturer == rhs.manufacturer &&
+    lhs.serialNumber == rhs.serialNumber &&
+    lhs.orderId == rhs.orderId &&
+    lhs.orderUpdateId == rhs.orderUpdateId &&
+    lhs.nodes == rhs.nodes &&
+    lhs.edges == rhs.edges &&
+    lhs.zoneSetId == rhs.zoneSetId;
+}
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::robot_protocol_msgs::Order_<ContainerAllocator1> & lhs, const ::robot_protocol_msgs::Order_<ContainerAllocator2> & rhs)
+{
+  return !(lhs == rhs);
+}
+
+
+} // namespace robot_protocol_msgs
+
+#endif // ROBOT_PROTOCOL_MSGS_MESSAGE_ORDER_H
diff --git a/robot_protocol_msgs/include/robot_protocol_msgs/Trajectory.h b/robot_protocol_msgs/include/robot_protocol_msgs/Trajectory.h
new file mode 100644
index 0000000..0cdb6fe
--- /dev/null
+++ b/robot_protocol_msgs/include/robot_protocol_msgs/Trajectory.h
@@ -0,0 +1,76 @@
+// Generated by gencpp from file robot_protocol_msgs/Trajectory.msg
+// DO NOT EDIT!
+
+
+#ifndef ROBOT_PROTOCOL_MSGS_MESSAGE_TRAJECTORY_H
+#define ROBOT_PROTOCOL_MSGS_MESSAGE_TRAJECTORY_H
+
+
+#include <string>
+#include <vector>
+#include <memory>
+
+#include <robot_protocol_msgs/ControlPoint.h>
+
+namespace robot_protocol_msgs
+{
+template <class ContainerAllocator>
+struct Trajectory_
+{
+  typedef Trajectory_<ContainerAllocator> Type;
+
+  Trajectory_()
+    : degree(0)
+    , knotVector()
+    , controlPoints()  {
+    }
+  Trajectory_(const ContainerAllocator& _alloc)
+    : degree(0)
+    , knotVector(_alloc)
+    , controlPoints(_alloc)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef uint32_t _degree_type;
+  _degree_type degree;
+
+   typedef std::vector<double, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<double>> _knotVector_type;
+  _knotVector_type knotVector;
+
+   typedef std::vector< ::robot_protocol_msgs::ControlPoint_<ContainerAllocator> , typename std::allocator_traits<ContainerAllocator>::template rebind_alloc< ::robot_protocol_msgs::ControlPoint_<ContainerAllocator> >> _controlPoints_type;
+  _controlPoints_type controlPoints;
+
+
+
+
+
+  typedef boost::shared_ptr< ::robot_protocol_msgs::Trajectory_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::robot_protocol_msgs::Trajectory_<ContainerAllocator> const> ConstPtr;
+
+}; // struct Trajectory_
+
+typedef ::robot_protocol_msgs::Trajectory_<std::allocator<void> > Trajectory;
+
+typedef boost::shared_ptr< ::robot_protocol_msgs::Trajectory > TrajectoryPtr;
+typedef boost::shared_ptr< ::robot_protocol_msgs::Trajectory const> TrajectoryConstPtr;
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::robot_protocol_msgs::Trajectory_<ContainerAllocator1> & lhs, const ::robot_protocol_msgs::Trajectory_<ContainerAllocator2> & rhs)
+{
+  return lhs.degree == rhs.degree &&
+    lhs.knotVector == rhs.knotVector &&
+    lhs.controlPoints == rhs.controlPoints;
+}
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::robot_protocol_msgs::Trajectory_<ContainerAllocator1> & lhs, const ::robot_protocol_msgs::Trajectory_<ContainerAllocator2> & rhs)
+{
+  return !(lhs == rhs);
+}
+
+
+} // namespace robot_protocol_msgs
+
+#endif // ROBOT_PROTOCOL_MSGS_MESSAGE_TRAJECTORY_H