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Remove unused directory utils and update robot_sensor msgs

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This commit is contained in:
duongtd 2026-01-16 10:06:59 +07:00
parent ec3f1cda5f
commit b7a7a60b7b
29 changed files with 2332 additions and 367 deletions
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259
robot_sensor_msgs/include/robot_sensor_msgs/BatteryState.h
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@ -1,66 +1,220 @@
#pragma once // Generated by gencpp from file robot_sensor_msgs/BatteryState.msg
#include "robot_std_msgs/Header.h" // DO NOT EDIT!
#include <cstdint>
#ifndef ROBOT_SENSOR_MSGS_MESSAGE_BATTERYSTATE_H
#define ROBOT_SENSOR_MSGS_MESSAGE_BATTERYSTATE_H
#include <string> #include <string>
#include <vector> #include <vector>
#include <limits> #include <memory>
#include <boost/shared_ptr.hpp>
#include <robot_std_msgs/Header.h>
namespace robot_sensor_msgs namespace robot_sensor_msgs
{ {
template <class ContainerAllocator>
struct BatteryState struct BatteryState_
{ {
// ===== Power supply status constants ===== typedef BatteryState_<ContainerAllocator> Type;
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 ===== BatteryState_()
static constexpr uint8_t POWER_SUPPLY_HEALTH_UNKNOWN = 0; : header()
static constexpr uint8_t POWER_SUPPLY_HEALTH_GOOD = 1; , voltage(0.0)
static constexpr uint8_t POWER_SUPPLY_HEALTH_OVERHEAT = 2; , temperature(0.0)
static constexpr uint8_t POWER_SUPPLY_HEALTH_DEAD = 3; , current(0.0)
static constexpr uint8_t POWER_SUPPLY_HEALTH_OVERVOLTAGE = 4; , charge(0.0)
static constexpr uint8_t POWER_SUPPLY_HEALTH_UNSPEC_FAILURE = 5; , capacity(0.0)
static constexpr uint8_t POWER_SUPPLY_HEALTH_COLD = 6; , design_capacity(0.0)
static constexpr uint8_t POWER_SUPPLY_HEALTH_WATCHDOG_TIMER_EXPIRE = 7; , percentage(0.0)
static constexpr uint8_t POWER_SUPPLY_HEALTH_SAFETY_TIMER_EXPIRE = 8; , power_supply_status(0)
, power_supply_health(0)
, power_supply_technology(0)
, present(false)
, cell_voltage()
, cell_temperature()
, location()
, serial_number() {
}
BatteryState_(const ContainerAllocator& _alloc)
: header(_alloc)
, voltage(0.0)
, temperature(0.0)
, current(0.0)
, charge(0.0)
, capacity(0.0)
, design_capacity(0.0)
, percentage(0.0)
, power_supply_status(0)
, power_supply_health(0)
, power_supply_technology(0)
, present(false)
, cell_voltage(_alloc)
, cell_temperature(_alloc)
, location(_alloc)
, serial_number(_alloc) {
(void)_alloc;
}
// ===== 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 =====
robot_std_msgs::Header header;
float voltage = std::numeric_limits<float>::quiet_NaN(); // [V] typedef ::robot_std_msgs::Header_<ContainerAllocator> _header_type;
float temperature = std::numeric_limits<float>::quiet_NaN(); // [°C] _header_type header;
float current = std::numeric_limits<float>::quiet_NaN(); // [A]
float charge = std::numeric_limits<float>::quiet_NaN(); // [Ah]
float capacity = std::numeric_limits<float>::quiet_NaN(); // [Ah]
float design_capacity = std::numeric_limits<float>::quiet_NaN(); // [Ah]
float percentage = std::numeric_limits<float>::quiet_NaN(); // 0..1
uint8_t power_supply_status = POWER_SUPPLY_STATUS_UNKNOWN; typedef float _voltage_type;
uint8_t power_supply_health = POWER_SUPPLY_HEALTH_UNKNOWN; _voltage_type voltage;
uint8_t power_supply_technology = POWER_SUPPLY_TECHNOLOGY_UNKNOWN;
bool present = false;
std::vector<float> cell_voltage; typedef float _temperature_type;
std::vector<float> cell_temperature; _temperature_type temperature;
std::string location; typedef float _current_type;
std::string serial_number; _current_type current;
};
inline bool operator==(const robot_sensor_msgs::BatteryState& lhs, const robot_sensor_msgs::BatteryState& rhs) typedef float _charge_type;
_charge_type charge;
typedef float _capacity_type;
_capacity_type capacity;
typedef float _design_capacity_type;
_design_capacity_type design_capacity;
typedef float _percentage_type;
_percentage_type percentage;
typedef uint8_t _power_supply_status_type;
_power_supply_status_type power_supply_status;
typedef uint8_t _power_supply_health_type;
_power_supply_health_type power_supply_health;
typedef uint8_t _power_supply_technology_type;
_power_supply_technology_type power_supply_technology;
typedef uint8_t _present_type;
_present_type present;
typedef std::vector<float, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<float>> _cell_voltage_type;
_cell_voltage_type cell_voltage;
typedef std::vector<float, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<float>> _cell_temperature_type;
_cell_temperature_type cell_temperature;
typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _location_type;
_location_type location;
typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _serial_number_type;
_serial_number_type serial_number;
// reducing the odds to have name collisions with Windows.h
#if defined(_WIN32) && defined(POWER_SUPPLY_STATUS_UNKNOWN)
#undef POWER_SUPPLY_STATUS_UNKNOWN
#endif
#if defined(_WIN32) && defined(POWER_SUPPLY_STATUS_CHARGING)
#undef POWER_SUPPLY_STATUS_CHARGING
#endif
#if defined(_WIN32) && defined(POWER_SUPPLY_STATUS_DISCHARGING)
#undef POWER_SUPPLY_STATUS_DISCHARGING
#endif
#if defined(_WIN32) && defined(POWER_SUPPLY_STATUS_NOT_CHARGING)
#undef POWER_SUPPLY_STATUS_NOT_CHARGING
#endif
#if defined(_WIN32) && defined(POWER_SUPPLY_STATUS_FULL)
#undef POWER_SUPPLY_STATUS_FULL
#endif
#if defined(_WIN32) && defined(POWER_SUPPLY_HEALTH_UNKNOWN)
#undef POWER_SUPPLY_HEALTH_UNKNOWN
#endif
#if defined(_WIN32) && defined(POWER_SUPPLY_HEALTH_GOOD)
#undef POWER_SUPPLY_HEALTH_GOOD
#endif
#if defined(_WIN32) && defined(POWER_SUPPLY_HEALTH_OVERHEAT)
#undef POWER_SUPPLY_HEALTH_OVERHEAT
#endif
#if defined(_WIN32) && defined(POWER_SUPPLY_HEALTH_DEAD)
#undef POWER_SUPPLY_HEALTH_DEAD
#endif
#if defined(_WIN32) && defined(POWER_SUPPLY_HEALTH_OVERVOLTAGE)
#undef POWER_SUPPLY_HEALTH_OVERVOLTAGE
#endif
#if defined(_WIN32) && defined(POWER_SUPPLY_HEALTH_UNSPEC_FAILURE)
#undef POWER_SUPPLY_HEALTH_UNSPEC_FAILURE
#endif
#if defined(_WIN32) && defined(POWER_SUPPLY_HEALTH_COLD)
#undef POWER_SUPPLY_HEALTH_COLD
#endif
#if defined(_WIN32) && defined(POWER_SUPPLY_HEALTH_WATCHDOG_TIMER_EXPIRE)
#undef POWER_SUPPLY_HEALTH_WATCHDOG_TIMER_EXPIRE
#endif
#if defined(_WIN32) && defined(POWER_SUPPLY_HEALTH_SAFETY_TIMER_EXPIRE)
#undef POWER_SUPPLY_HEALTH_SAFETY_TIMER_EXPIRE
#endif
#if defined(_WIN32) && defined(POWER_SUPPLY_TECHNOLOGY_UNKNOWN)
#undef POWER_SUPPLY_TECHNOLOGY_UNKNOWN
#endif
#if defined(_WIN32) && defined(POWER_SUPPLY_TECHNOLOGY_NIMH)
#undef POWER_SUPPLY_TECHNOLOGY_NIMH
#endif
#if defined(_WIN32) && defined(POWER_SUPPLY_TECHNOLOGY_LION)
#undef POWER_SUPPLY_TECHNOLOGY_LION
#endif
#if defined(_WIN32) && defined(POWER_SUPPLY_TECHNOLOGY_LIPO)
#undef POWER_SUPPLY_TECHNOLOGY_LIPO
#endif
#if defined(_WIN32) && defined(POWER_SUPPLY_TECHNOLOGY_LIFE)
#undef POWER_SUPPLY_TECHNOLOGY_LIFE
#endif
#if defined(_WIN32) && defined(POWER_SUPPLY_TECHNOLOGY_NICD)
#undef POWER_SUPPLY_TECHNOLOGY_NICD
#endif
#if defined(_WIN32) && defined(POWER_SUPPLY_TECHNOLOGY_LIMN)
#undef POWER_SUPPLY_TECHNOLOGY_LIMN
#endif
enum {
POWER_SUPPLY_STATUS_UNKNOWN = 0u,
POWER_SUPPLY_STATUS_CHARGING = 1u,
POWER_SUPPLY_STATUS_DISCHARGING = 2u,
POWER_SUPPLY_STATUS_NOT_CHARGING = 3u,
POWER_SUPPLY_STATUS_FULL = 4u,
POWER_SUPPLY_HEALTH_UNKNOWN = 0u,
POWER_SUPPLY_HEALTH_GOOD = 1u,
POWER_SUPPLY_HEALTH_OVERHEAT = 2u,
POWER_SUPPLY_HEALTH_DEAD = 3u,
POWER_SUPPLY_HEALTH_OVERVOLTAGE = 4u,
POWER_SUPPLY_HEALTH_UNSPEC_FAILURE = 5u,
POWER_SUPPLY_HEALTH_COLD = 6u,
POWER_SUPPLY_HEALTH_WATCHDOG_TIMER_EXPIRE = 7u,
POWER_SUPPLY_HEALTH_SAFETY_TIMER_EXPIRE = 8u,
POWER_SUPPLY_TECHNOLOGY_UNKNOWN = 0u,
POWER_SUPPLY_TECHNOLOGY_NIMH = 1u,
POWER_SUPPLY_TECHNOLOGY_LION = 2u,
POWER_SUPPLY_TECHNOLOGY_LIPO = 3u,
POWER_SUPPLY_TECHNOLOGY_LIFE = 4u,
POWER_SUPPLY_TECHNOLOGY_NICD = 5u,
POWER_SUPPLY_TECHNOLOGY_LIMN = 6u,
};
typedef boost::shared_ptr< ::robot_sensor_msgs::BatteryState_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::robot_sensor_msgs::BatteryState_<ContainerAllocator> const> ConstPtr;
}; // struct BatteryState_
typedef ::robot_sensor_msgs::BatteryState_<std::allocator<void> > BatteryState;
typedef boost::shared_ptr< ::robot_sensor_msgs::BatteryState > BatteryStatePtr;
typedef boost::shared_ptr< ::robot_sensor_msgs::BatteryState const> BatteryStateConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator==(const ::robot_sensor_msgs::BatteryState_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::BatteryState_<ContainerAllocator2> & rhs)
{ {
return lhs.header == rhs.header && return lhs.header == rhs.header &&
lhs.voltage == rhs.voltage && lhs.voltage == rhs.voltage &&
@ -80,9 +234,14 @@ inline bool operator==(const robot_sensor_msgs::BatteryState& lhs, const robot_s
lhs.serial_number == rhs.serial_number; lhs.serial_number == rhs.serial_number;
} }
inline bool operator!=(const robot_sensor_msgs::BatteryState& lhs, const robot_sensor_msgs::BatteryState& rhs) template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator!=(const ::robot_sensor_msgs::BatteryState_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::BatteryState_<ContainerAllocator2> & rhs)
{ {
return !(lhs == rhs); return !(lhs == rhs);
} }
} // namespace robot_sensor_msgs } // namespace robot_sensor_msgs
#endif // ROBOT_SENSOR_MSGS_MESSAGE_BATTERYSTATE_H

147
robot_sensor_msgs/include/robot_sensor_msgs/CameraInfo.h
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@ -1,29 +1,138 @@
#pragma once // Generated by gencpp from file robot_sensor_msgs/CameraInfo.msg
// DO NOT EDIT!
#ifndef ROBOT_SENSOR_MSGS_MESSAGE_CAMERAINFO_H
#define ROBOT_SENSOR_MSGS_MESSAGE_CAMERAINFO_H
#include <string> #include <string>
#include <vector> #include <vector>
#include "robot_std_msgs/Header.h" #include <memory>
#include "robot_sensor_msgs/RegionOfInterest.h" #include <boost/shared_ptr.hpp>
#include <robot_std_msgs/Header.h>
#include <robot_sensor_msgs/RegionOfInterest.h>
namespace robot_sensor_msgs namespace robot_sensor_msgs
{ {
struct CameraInfo template <class ContainerAllocator>
struct CameraInfo_
{ {
robot_std_msgs::Header header; // thời gian và frame_id typedef CameraInfo_<ContainerAllocator> Type;
// Calibration parameters CameraInfo_()
uint32_t height = 0; : header()
uint32_t width = 0; , height(0)
std::string distortion_model; , width(0)
, distortion_model()
, D()
, K()
, R()
, P()
, binning_x(0)
, binning_y(0)
, roi() {
K.assign(0.0);
R.assign(0.0);
P.assign(0.0);
}
CameraInfo_(const ContainerAllocator& _alloc)
: header(_alloc)
, height(0)
, width(0)
, distortion_model(_alloc)
, D(_alloc)
, K()
, R()
, P()
, binning_x(0)
, binning_y(0)
, roi(_alloc) {
(void)_alloc;
K.assign(0.0);
R.assign(0.0);
P.assign(0.0);
}
typedef ::robot_std_msgs::Header_<ContainerAllocator> _header_type;
_header_type header;
typedef uint32_t _height_type;
_height_type height;
typedef uint32_t _width_type;
_width_type width;
typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _distortion_model_type;
_distortion_model_type distortion_model;
typedef std::vector<double, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<double>> _D_type;
_D_type D;
typedef boost::array<double, 9> _K_type;
_K_type K;
typedef boost::array<double, 9> _R_type;
_R_type R;
typedef boost::array<double, 12> _P_type;
_P_type P;
typedef uint32_t _binning_x_type;
_binning_x_type binning_x;
typedef uint32_t _binning_y_type;
_binning_y_type binning_y;
typedef ::robot_sensor_msgs::RegionOfInterest_<ContainerAllocator> _roi_type;
_roi_type roi;
typedef boost::shared_ptr< ::robot_sensor_msgs::CameraInfo_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::robot_sensor_msgs::CameraInfo_<ContainerAllocator> const> ConstPtr;
}; // struct CameraInfo_
typedef ::robot_sensor_msgs::CameraInfo_<std::allocator<void> > CameraInfo;
typedef boost::shared_ptr< ::robot_sensor_msgs::CameraInfo > CameraInfoPtr;
typedef boost::shared_ptr< ::robot_sensor_msgs::CameraInfo const> CameraInfoConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator==(const ::robot_sensor_msgs::CameraInfo_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::CameraInfo_<ContainerAllocator2> & rhs)
{
return lhs.header == rhs.header &&
lhs.height == rhs.height &&
lhs.width == rhs.width &&
lhs.distortion_model == rhs.distortion_model &&
lhs.D == rhs.D &&
lhs.K == rhs.K &&
lhs.R == rhs.R &&
lhs.P == rhs.P &&
lhs.binning_x == rhs.binning_x &&
lhs.binning_y == rhs.binning_y &&
lhs.roi == rhs.roi;
}
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator!=(const ::robot_sensor_msgs::CameraInfo_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::CameraInfo_<ContainerAllocator2> & rhs)
{
return !(lhs == rhs);
}
std::vector<double> 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;
robot_sensor_msgs::RegionOfInterest roi;
};
} // namespace robot_sensor_msgs } // namespace robot_sensor_msgs
#endif // ROBOT_SENSOR_MSGS_MESSAGE_CAMERAINFO_H

70
robot_sensor_msgs/include/robot_sensor_msgs/ChannelFloat32.h
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@ -1,12 +1,72 @@
#pragma once // Generated by gencpp from file robot_sensor_msgs/ChannelFloat32.msg
// DO NOT EDIT!
#ifndef ROBOT_SENSOR_MSGS_MESSAGE_CHANNELFLOAT32_H
#define ROBOT_SENSOR_MSGS_MESSAGE_CHANNELFLOAT32_H
#include <string> #include <string>
#include <vector> #include <vector>
#include <memory>
#include <boost/shared_ptr.hpp>
namespace robot_sensor_msgs namespace robot_sensor_msgs
{ {
struct ChannelFloat32 template <class ContainerAllocator>
struct ChannelFloat32_
{ {
std::string name; // Tên của channel (vd: "intensity", "rgb", "u", "v") typedef ChannelFloat32_<ContainerAllocator> Type;
std::vector<float> values; // Dữ liệu float32 ứng với từng điểm trong PointCloud
}; ChannelFloat32_()
: name()
, values() {
}
ChannelFloat32_(const ContainerAllocator& _alloc)
: name(_alloc)
, values(_alloc) {
(void)_alloc;
}
typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _name_type;
_name_type name;
typedef std::vector<float, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<float>> _values_type;
_values_type values;
typedef boost::shared_ptr< ::robot_sensor_msgs::ChannelFloat32_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::robot_sensor_msgs::ChannelFloat32_<ContainerAllocator> const> ConstPtr;
}; // struct ChannelFloat32_
typedef ::robot_sensor_msgs::ChannelFloat32_<std::allocator<void> > ChannelFloat32;
typedef boost::shared_ptr< ::robot_sensor_msgs::ChannelFloat32 > ChannelFloat32Ptr;
typedef boost::shared_ptr< ::robot_sensor_msgs::ChannelFloat32 const> ChannelFloat32ConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator==(const ::robot_sensor_msgs::ChannelFloat32_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::ChannelFloat32_<ContainerAllocator2> & rhs)
{
return lhs.name == rhs.name &&
lhs.values == rhs.values;
}
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator!=(const ::robot_sensor_msgs::ChannelFloat32_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::ChannelFloat32_<ContainerAllocator2> & rhs)
{
return !(lhs == rhs);
}
} // namespace robot_sensor_msgs } // namespace robot_sensor_msgs
#endif // ROBOT_SENSOR_MSGS_MESSAGE_CHANNELFLOAT32_H

79
robot_sensor_msgs/include/robot_sensor_msgs/CompressedImage.h
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@ -1,18 +1,79 @@
#pragma once // Generated by gencpp from file robot_sensor_msgs/CompressedImage.msg
// DO NOT EDIT!
#ifndef ROBOT_SENSOR_MSGS_MESSAGE_COMPRESSEDIMAGE_H
#define ROBOT_SENSOR_MSGS_MESSAGE_COMPRESSEDIMAGE_H
#include <string> #include <string>
#include <vector> #include <vector>
#include "robot_std_msgs/Header.h" #include <memory>
#include <boost/shared_ptr.hpp>
#include <robot_std_msgs/Header.h>
namespace robot_sensor_msgs namespace robot_sensor_msgs
{ {
template <class ContainerAllocator>
struct CompressedImage struct CompressedImage_
{ {
robot_std_msgs::Header header; // Thông tin thời gian & frame_id typedef CompressedImage_<ContainerAllocator> Type;
std::string format; // Định dạng nén (jpeg, png, ...)
CompressedImage_()
: header()
, format()
, data() {
}
CompressedImage_(const ContainerAllocator& _alloc)
: header(_alloc)
, format(_alloc)
, data(_alloc) {
(void)_alloc;
}
typedef ::robot_std_msgs::Header_<ContainerAllocator> _header_type;
_header_type header;
typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _format_type;
_format_type format;
typedef std::vector<uint8_t, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<uint8_t>> _data_type;
_data_type data;
typedef boost::shared_ptr< ::robot_sensor_msgs::CompressedImage_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::robot_sensor_msgs::CompressedImage_<ContainerAllocator> const> ConstPtr;
}; // struct CompressedImage_
typedef ::robot_sensor_msgs::CompressedImage_<std::allocator<void> > CompressedImage;
typedef boost::shared_ptr< ::robot_sensor_msgs::CompressedImage > CompressedImagePtr;
typedef boost::shared_ptr< ::robot_sensor_msgs::CompressedImage const> CompressedImageConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator==(const ::robot_sensor_msgs::CompressedImage_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::CompressedImage_<ContainerAllocator2> & rhs)
{
return lhs.header == rhs.header &&
lhs.format == rhs.format &&
lhs.data == rhs.data;
}
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator!=(const ::robot_sensor_msgs::CompressedImage_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::CompressedImage_<ContainerAllocator2> & rhs)
{
return !(lhs == rhs);
}
// Dữ liệu ảnh nén (binary buffer)
std::vector<uint8_t> data;
};
} // namespace robot_sensor_msgs } // namespace robot_sensor_msgs
#endif // ROBOT_SENSOR_MSGS_MESSAGE_COMPRESSEDIMAGE_H

84
robot_sensor_msgs/include/robot_sensor_msgs/FluidPressure.h
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@ -1,17 +1,81 @@
#pragma once // Generated by gencpp from file robot_sensor_msgs/FluidPressure.msg
#include "robot_std_msgs/Header.h" // DO NOT EDIT!
#ifndef ROBOT_SENSOR_MSGS_MESSAGE_FLUIDPRESSURE_H
#define ROBOT_SENSOR_MSGS_MESSAGE_FLUIDPRESSURE_H
#include <string>
#include <vector>
#include <memory>
#include <boost/shared_ptr.hpp>
#include <robot_std_msgs/Header.h>
namespace robot_sensor_msgs namespace robot_sensor_msgs
{ {
template <class ContainerAllocator>
struct FluidPressure struct FluidPressure_
{ {
robot_std_msgs::Header header; // Thông tin thời gian và khung tọa độ typedef FluidPressure_<ContainerAllocator> Type;
double fluid_pressure; // Áp suất tuyệt đối (đơn vị: Pascal)
double variance; // Phương sai (0 = không xác định) FluidPressure_()
: header()
, fluid_pressure(0.0)
, variance(0.0) {
}
FluidPressure_(const ContainerAllocator& _alloc)
: header(_alloc)
, fluid_pressure(0.0)
, variance(0.0) {
(void)_alloc;
}
typedef ::robot_std_msgs::Header_<ContainerAllocator> _header_type;
_header_type header;
typedef double _fluid_pressure_type;
_fluid_pressure_type fluid_pressure;
typedef double _variance_type;
_variance_type variance;
typedef boost::shared_ptr< ::robot_sensor_msgs::FluidPressure_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::robot_sensor_msgs::FluidPressure_<ContainerAllocator> const> ConstPtr;
}; // struct FluidPressure_
typedef ::robot_sensor_msgs::FluidPressure_<std::allocator<void> > FluidPressure;
typedef boost::shared_ptr< ::robot_sensor_msgs::FluidPressure > FluidPressurePtr;
typedef boost::shared_ptr< ::robot_sensor_msgs::FluidPressure const> FluidPressureConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator==(const ::robot_sensor_msgs::FluidPressure_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::FluidPressure_<ContainerAllocator2> & rhs)
{
return lhs.header == rhs.header &&
lhs.fluid_pressure == rhs.fluid_pressure &&
lhs.variance == rhs.variance;
}
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator!=(const ::robot_sensor_msgs::FluidPressure_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::FluidPressure_<ContainerAllocator2> & rhs)
{
return !(lhs == rhs);
}
FluidPressure()
: fluid_pressure(0.0), variance(0.0) {}
};
} // namespace robot_sensor_msgs } // namespace robot_sensor_msgs
#endif // ROBOT_SENSOR_MSGS_MESSAGE_FLUIDPRESSURE_H

83
robot_sensor_msgs/include/robot_sensor_msgs/Illuminance.h
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@ -1,17 +1,80 @@
#pragma once // Generated by gencpp from file robot_sensor_msgs/Illuminance.msg
#include "robot_std_msgs/Header.h" // DO NOT EDIT!
#ifndef ROBOT_SENSOR_MSGS_MESSAGE_ILLUMINANCE_H
#define ROBOT_SENSOR_MSGS_MESSAGE_ILLUMINANCE_H
#include <string>
#include <vector>
#include <memory>
#include <boost/shared_ptr.hpp>
#include <robot_std_msgs/Header.h>
namespace robot_sensor_msgs namespace robot_sensor_msgs
{ {
template <class ContainerAllocator>
struct Illuminance struct Illuminance_
{ {
robot_std_msgs::Header header; // Thông tin thời gian và khung tọa độ typedef Illuminance_<ContainerAllocator> Type;
double illuminance; // Độ rọi đo được (đơn vị: Lux)
double variance; // Phương sai (0 = không xác định) Illuminance_()
: header()
, illuminance(0.0)
, variance(0.0) {
}
Illuminance_(const ContainerAllocator& _alloc)
: header(_alloc)
, illuminance(0.0)
, variance(0.0) {
(void)_alloc;
}
typedef ::robot_std_msgs::Header_<ContainerAllocator> _header_type;
_header_type header;
typedef double _illuminance_type;
_illuminance_type illuminance;
typedef double _variance_type;
_variance_type variance;
typedef boost::shared_ptr< ::robot_sensor_msgs::Illuminance_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::robot_sensor_msgs::Illuminance_<ContainerAllocator> const> ConstPtr;
}; // struct Illuminance_
typedef ::robot_sensor_msgs::Illuminance_<std::allocator<void> > Illuminance;
typedef boost::shared_ptr< ::robot_sensor_msgs::Illuminance > IlluminancePtr;
typedef boost::shared_ptr< ::robot_sensor_msgs::Illuminance const> IlluminanceConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator==(const ::robot_sensor_msgs::Illuminance_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::Illuminance_<ContainerAllocator2> & rhs)
{
return lhs.header == rhs.header &&
lhs.illuminance == rhs.illuminance &&
lhs.variance == rhs.variance;
}
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator!=(const ::robot_sensor_msgs::Illuminance_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::Illuminance_<ContainerAllocator2> & rhs)
{
return !(lhs == rhs);
}
Illuminance()
: illuminance(0.0), variance(0.0) {}
};
} // namespace robot_sensor_msgs } // namespace robot_sensor_msgs
#endif // ROBOT_SENSOR_MSGS_MESSAGE_ILLUMINANCE_H

108
robot_sensor_msgs/include/robot_sensor_msgs/Image.h
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@ -1,26 +1,104 @@
#pragma once // Generated by gencpp from file robot_sensor_msgs/Image.msg
// DO NOT EDIT!
#ifndef ROBOT_SENSOR_MSGS_MESSAGE_IMAGE_H
#define ROBOT_SENSOR_MSGS_MESSAGE_IMAGE_H
#include <string> #include <string>
#include <vector> #include <vector>
#include <cstdint> #include <memory>
#include "robot_std_msgs/Header.h" #include <boost/shared_ptr.hpp>
#include <robot_std_msgs/Header.h>
namespace robot_sensor_msgs namespace robot_sensor_msgs
{ {
struct Image template <class ContainerAllocator>
struct Image_
{ {
robot_std_msgs::Header header; // Thông tin thời gian và frame typedef Image_<ContainerAllocator> Type;
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<uint8_t> data; // Mảng dữ liệu ảnh (kích thước step * height)
Image() = default; Image_()
: header()
, height(0)
, width(0)
, encoding()
, is_bigendian(0)
, step(0)
, data() {
}
Image_(const ContainerAllocator& _alloc)
: header(_alloc)
, height(0)
, width(0)
, encoding(_alloc)
, is_bigendian(0)
, step(0)
, data(_alloc) {
(void)_alloc;
}
inline size_t size() const { return data.size(); }
inline bool empty() const { return data.empty(); }
}; typedef ::robot_std_msgs::Header_<ContainerAllocator> _header_type;
_header_type header;
typedef uint32_t _height_type;
_height_type height;
typedef uint32_t _width_type;
_width_type width;
typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _encoding_type;
_encoding_type encoding;
typedef uint8_t _is_bigendian_type;
_is_bigendian_type is_bigendian;
typedef uint32_t _step_type;
_step_type step;
typedef std::vector<uint8_t, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<uint8_t>> _data_type;
_data_type data;
typedef boost::shared_ptr< ::robot_sensor_msgs::Image_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::robot_sensor_msgs::Image_<ContainerAllocator> const> ConstPtr;
}; // struct Image_
typedef ::robot_sensor_msgs::Image_<std::allocator<void> > Image;
typedef boost::shared_ptr< ::robot_sensor_msgs::Image > ImagePtr;
typedef boost::shared_ptr< ::robot_sensor_msgs::Image const> ImageConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator==(const ::robot_sensor_msgs::Image_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::Image_<ContainerAllocator2> & rhs)
{
return lhs.header == rhs.header &&
lhs.height == rhs.height &&
lhs.width == rhs.width &&
lhs.encoding == rhs.encoding &&
lhs.is_bigendian == rhs.is_bigendian &&
lhs.step == rhs.step &&
lhs.data == rhs.data;
}
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator!=(const ::robot_sensor_msgs::Image_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::Image_<ContainerAllocator2> & rhs)
{
return !(lhs == rhs);
}
} // namespace robot_sensor_msgs } // namespace robot_sensor_msgs
#endif // ROBOT_SENSOR_MSGS_MESSAGE_IMAGE_H

373
robot_sensor_msgs/include/robot_sensor_msgs/Imu.h
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@ -1,31 +1,366 @@
#pragma once // Generated by gencpp from file robot_sensor_msgs/Imu.msg
#include <array> // DO NOT EDIT!
#include "robot_std_msgs/Header.h"
#include "geometry_msgs/Quaternion.h"
#include "geometry_msgs/Vector3.h" #ifndef ROBOT_SENSOR_MSGS_MESSAGE_IMU_H
#define ROBOT_SENSOR_MSGS_MESSAGE_IMU_H
#include <string>
#include <vector>
#include <memory>
#include <boost/shared_ptr.hpp>
#include <robot_std_msgs/Header.h>
#include <robot_geometry_msgs/Quaternion.h>
#include <robot_geometry_msgs/Vector3.h>
#include <robot_geometry_msgs/Vector3.h>
namespace robot_sensor_msgs namespace robot_sensor_msgs
{ {
template <class ContainerAllocator>
struct Imu struct Imu_
{ {
robot_std_msgs::Header header; // Thời gian và frame gốc typedef Imu_<ContainerAllocator> Type;
robot_geometry_msgs::Quaternion orientation; // Góc quay (đơn vị: quaternion) Imu_()
std::array<double, 9> orientation_covariance; // Ma trận hiệp phương sai (row-major) : header()
, orientation()
, orientation_covariance()
, angular_velocity()
, angular_velocity_covariance()
, linear_acceleration()
, linear_acceleration_covariance() {
orientation_covariance.assign(0.0);
robot_geometry_msgs::Vector3 angular_velocity; // Tốc độ góc (rad/s) angular_velocity_covariance.assign(0.0);
std::array<double, 9> angular_velocity_covariance; // Ma trận hiệp phương sai
robot_geometry_msgs::Vector3 linear_acceleration; // Gia tốc tuyến tính (m/s^2) linear_acceleration_covariance.assign(0.0);
std::array<double, 9> linear_acceleration_covariance; // Ma trận hiệp phương sai }
Imu_(const ContainerAllocator& _alloc)
: header(_alloc)
, orientation(_alloc)
, orientation_covariance()
, angular_velocity(_alloc)
, angular_velocity_covariance()
, linear_acceleration(_alloc)
, linear_acceleration_covariance() {
(void)_alloc;
orientation_covariance.assign(0.0);
Imu() angular_velocity_covariance.assign(0.0);
linear_acceleration_covariance.assign(0.0);
}
typedef ::robot_std_msgs::Header_<ContainerAllocator> _header_type;
_header_type header;
typedef ::robot_geometry_msgs::Quaternion_<ContainerAllocator> _orientation_type;
_orientation_type orientation;
typedef boost::array<double, 9> _orientation_covariance_type;
_orientation_covariance_type orientation_covariance;
typedef ::robot_geometry_msgs::Vector3_<ContainerAllocator> _angular_velocity_type;
_angular_velocity_type angular_velocity;
typedef boost::array<double, 9> _angular_velocity_covariance_type;
_angular_velocity_covariance_type angular_velocity_covariance;
typedef ::robot_geometry_msgs::Vector3_<ContainerAllocator> _linear_acceleration_type;
_linear_acceleration_type linear_acceleration;
typedef boost::array<double, 9> _linear_acceleration_covariance_type;
_linear_acceleration_covariance_type linear_acceleration_covariance;
typedef boost::shared_ptr< ::robot_sensor_msgs::Imu_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::robot_sensor_msgs::Imu_<ContainerAllocator> const> ConstPtr;
}; // struct Imu_
typedef ::robot_sensor_msgs::Imu_<std::allocator<void> > Imu;
typedef boost::shared_ptr< ::robot_sensor_msgs::Imu > ImuPtr;
typedef boost::shared_ptr< ::robot_sensor_msgs::Imu const> ImuConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator>
std::ostream& operator<<(std::ostream& s, const ::robot_sensor_msgs::Imu_<ContainerAllocator> & v)
{
ros::message_operations::Printer< ::robot_sensor_msgs::Imu_<ContainerAllocator> >::stream(s, "", v);
return s;
}
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator==(const ::robot_sensor_msgs::Imu_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::Imu_<ContainerAllocator2> & rhs)
{
return lhs.header == rhs.header &&
lhs.orientation == rhs.orientation &&
lhs.orientation_covariance == rhs.orientation_covariance &&
lhs.angular_velocity == rhs.angular_velocity &&
lhs.angular_velocity_covariance == rhs.angular_velocity_covariance &&
lhs.linear_acceleration == rhs.linear_acceleration &&
lhs.linear_acceleration_covariance == rhs.linear_acceleration_covariance;
}
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator!=(const ::robot_sensor_msgs::Imu_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::Imu_<ContainerAllocator2> & rhs)
{
return !(lhs == rhs);
}
} // namespace robot_sensor_msgs
namespace ros
{
namespace message_traits
{
template <class ContainerAllocator>
struct IsMessage< ::robot_sensor_msgs::Imu_<ContainerAllocator> >
: TrueType
{ };
template <class ContainerAllocator>
struct IsMessage< ::robot_sensor_msgs::Imu_<ContainerAllocator> const>
: TrueType
{ };
template <class ContainerAllocator>
struct IsFixedSize< ::robot_sensor_msgs::Imu_<ContainerAllocator> >
: FalseType
{ };
template <class ContainerAllocator>
struct IsFixedSize< ::robot_sensor_msgs::Imu_<ContainerAllocator> const>
: FalseType
{ };
template <class ContainerAllocator>
struct HasHeader< ::robot_sensor_msgs::Imu_<ContainerAllocator> >
: TrueType
{ };
template <class ContainerAllocator>
struct HasHeader< ::robot_sensor_msgs::Imu_<ContainerAllocator> const>
: TrueType
{ };
template<class ContainerAllocator>
struct MD5Sum< ::robot_sensor_msgs::Imu_<ContainerAllocator> >
{
static const char* value()
{ {
orientation_covariance.fill(0.0); return "6a62c6daae103f4ff57a132d6f95cec2";
angular_velocity_covariance.fill(0.0); }
linear_acceleration_covariance.fill(0.0);
static const char* value(const ::robot_sensor_msgs::Imu_<ContainerAllocator>&) { return value(); }
static const uint64_t static_value1 = 0x6a62c6daae103f4fULL;
static const uint64_t static_value2 = 0xf57a132d6f95cec2ULL;
};
template<class ContainerAllocator>
struct DataType< ::robot_sensor_msgs::Imu_<ContainerAllocator> >
{
static const char* value()
{
return "robot_sensor_msgs/Imu";
}
static const char* value(const ::robot_sensor_msgs::Imu_<ContainerAllocator>&) { return value(); }
};
template<class ContainerAllocator>
struct Definition< ::robot_sensor_msgs::Imu_<ContainerAllocator> >
{
static const char* value()
{
return "# This is a message to hold data from an IMU (Inertial Measurement Unit)\n"
"#\n"
"# Accelerations should be in m/s^2 (not in g's), and rotational velocity should be in rad/sec\n"
"#\n"
"# If the covariance of the measurement is known, it should be filled in (if all you know is the \n"
"# variance of each measurement, e.g. from the datasheet, just put those along the diagonal)\n"
"# A covariance matrix of all zeros will be interpreted as \"covariance unknown\", and to use the\n"
"# data a covariance will have to be assumed or gotten from some other source\n"
"#\n"
"# If you have no estimate for one of the data elements (e.g. your IMU doesn't produce an orientation \n"
"# estimate), please set element 0 of the associated covariance matrix to -1\n"
"# If you are interpreting this message, please check for a value of -1 in the first element of each \n"
"# covariance matrix, and disregard the associated estimate.\n"
"\n"
"Header header\n"
"\n"
"robot_geometry_msgs/Quaternion orientation\n"
"float64[9] orientation_covariance # Row major about x, y, z axes\n"
"\n"
"robot_geometry_msgs/Vector3 angular_velocity\n"
"float64[9] angular_velocity_covariance # Row major about x, y, z axes\n"
"\n"
"robot_geometry_msgs/Vector3 linear_acceleration\n"
"float64[9] linear_acceleration_covariance # Row major x, y z \n"
"\n"
"================================================================================\n"
"MSG: robot_std_msgs/Header\n"
"# Standard metadata for higher-level stamped data types.\n"
"# This is generally used to communicate timestamped data \n"
"# in a particular coordinate frame.\n"
"# \n"
"# sequence ID: consecutively increasing ID \n"
"uint32 seq\n"
"#Two-integer timestamp that is expressed as:\n"
"# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')\n"
"# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')\n"
"# time-handling sugar is provided by the client library\n"
"time stamp\n"
"#Frame this data is associated with\n"
"string frame_id\n"
"\n"
"================================================================================\n"
"MSG: robot_geometry_msgs/Quaternion\n"
"# This represents an orientation in free space in quaternion form.\n"
"\n"
"float64 x\n"
"float64 y\n"
"float64 z\n"
"float64 w\n"
"\n"
"================================================================================\n"
"MSG: robot_geometry_msgs/Vector3\n"
"# This represents a vector in free space. \n"
"# It is only meant to represent a direction. Therefore, it does not\n"
"# make sense to apply a translation to it (e.g., when applying a \n"
"# generic rigid transformation to a Vector3, tf2 will only apply the\n"
"# rotation). If you want your data to be translatable too, use the\n"
"# robot_geometry_msgs/Point message instead.\n"
"\n"
"float64 x\n"
"float64 y\n"
"float64 z\n"
;
}
static const char* value(const ::robot_sensor_msgs::Imu_<ContainerAllocator>&) { return value(); }
};
} // namespace message_traits
} // namespace ros
namespace ros
{
namespace serialization
{
template<class ContainerAllocator> struct Serializer< ::robot_sensor_msgs::Imu_<ContainerAllocator> >
{
template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
{
stream.next(m.header);
stream.next(m.orientation);
stream.next(m.orientation_covariance);
stream.next(m.angular_velocity);
stream.next(m.angular_velocity_covariance);
stream.next(m.linear_acceleration);
stream.next(m.linear_acceleration_covariance);
}
ROS_DECLARE_ALLINONE_SERIALIZER
}; // struct Imu_
} // namespace serialization
} // namespace ros
namespace ros
{
namespace message_operations
{
template<class ContainerAllocator>
struct Printer< ::robot_sensor_msgs::Imu_<ContainerAllocator> >
{
template<typename Stream> static void stream(Stream& s, const std::string& indent, const ::robot_sensor_msgs::Imu_<ContainerAllocator>& v)
{
if (false || !indent.empty())
s << std::endl;
s << indent << "header: ";
Printer< ::robot_std_msgs::Header_<ContainerAllocator> >::stream(s, indent + " ", v.header);
if (true || !indent.empty())
s << std::endl;
s << indent << "orientation: ";
Printer< ::robot_geometry_msgs::Quaternion_<ContainerAllocator> >::stream(s, indent + " ", v.orientation);
if (true || !indent.empty())
s << std::endl;
s << indent << "orientation_covariance: ";
if (v.orientation_covariance.empty() || true)
s << "[";
for (size_t i = 0; i < v.orientation_covariance.size(); ++i)
{
if (true && i > 0)
s << ", ";
else if (!true)
s << std::endl << indent << " -";
Printer<double>::stream(s, true ? std::string() : indent + " ", v.orientation_covariance[i]);
}
if (v.orientation_covariance.empty() || true)
s << "]";
if (true || !indent.empty())
s << std::endl;
s << indent << "angular_velocity: ";
Printer< ::robot_geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + " ", v.angular_velocity);
if (true || !indent.empty())
s << std::endl;
s << indent << "angular_velocity_covariance: ";
if (v.angular_velocity_covariance.empty() || true)
s << "[";
for (size_t i = 0; i < v.angular_velocity_covariance.size(); ++i)
{
if (true && i > 0)
s << ", ";
else if (!true)
s << std::endl << indent << " -";
Printer<double>::stream(s, true ? std::string() : indent + " ", v.angular_velocity_covariance[i]);
}
if (v.angular_velocity_covariance.empty() || true)
s << "]";
if (true || !indent.empty())
s << std::endl;
s << indent << "linear_acceleration: ";
Printer< ::robot_geometry_msgs::Vector3_<ContainerAllocator> >::stream(s, indent + " ", v.linear_acceleration);
if (true || !indent.empty())
s << std::endl;
s << indent << "linear_acceleration_covariance: ";
if (v.linear_acceleration_covariance.empty() || true)
s << "[";
for (size_t i = 0; i < v.linear_acceleration_covariance.size(); ++i)
{
if (true && i > 0)
s << ", ";
else if (!true)
s << std::endl << indent << " -";
Printer<double>::stream(s, true ? std::string() : indent + " ", v.linear_acceleration_covariance[i]);
}
if (v.linear_acceleration_covariance.empty() || true)
s << "]";
} }
}; };
} // namespace robot_sensor_msgs } // namespace message_operations
} // namespace ros
#endif // SENSOR_MSGS_MESSAGE_IMU_H

91
robot_sensor_msgs/include/robot_sensor_msgs/JointState.h
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@ -1,21 +1,90 @@
#pragma once // Generated by gencpp from file robot_sensor_msgs/JointState.msg
// DO NOT EDIT!
#ifndef ROBOT_SENSOR_MSGS_MESSAGE_JOINTSTATE_H
#define ROBOT_SENSOR_MSGS_MESSAGE_JOINTSTATE_H
#include <string> #include <string>
#include <vector> #include <vector>
#include "robot_std_msgs/Header.h" #include <memory>
#include <boost/shared_ptr.hpp>
#include <robot_std_msgs/Header.h>
namespace robot_sensor_msgs namespace robot_sensor_msgs
{ {
template <class ContainerAllocator>
struct JointState struct JointState_
{ {
robot_std_msgs::Header header; // Thời điểm và frame ghi nhận trạng thái khớp typedef JointState_<ContainerAllocator> Type;
std::vector<std::string> name; // Tên từng khớp JointState_()
std::vector<double> position; // Vị trí (rad hoặc m) : header()
std::vector<double> velocity; // Vận tốc (rad/s hoặc m/s) , name()
std::vector<double> effort; // Mô-men hoặc lực (Nm hoặc N) , position()
, velocity()
, effort() {
}
JointState_(const ContainerAllocator& _alloc)
: header(_alloc)
, name(_alloc)
, position(_alloc)
, velocity(_alloc)
, effort(_alloc) {
(void)_alloc;
}
typedef ::robot_std_msgs::Header_<ContainerAllocator> _header_type;
_header_type header;
typedef std::vector<std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>>>> _name_type;
_name_type name;
typedef std::vector<double, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<double>> _position_type;
_position_type position;
typedef std::vector<double, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<double>> _velocity_type;
_velocity_type velocity;
typedef std::vector<double, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<double>> _effort_type;
_effort_type effort;
typedef boost::shared_ptr< ::robot_sensor_msgs::JointState_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::robot_sensor_msgs::JointState_<ContainerAllocator> const> ConstPtr;
}; // struct JointState_
typedef ::robot_sensor_msgs::JointState_<std::allocator<void> > JointState;
typedef boost::shared_ptr< ::robot_sensor_msgs::JointState > JointStatePtr;
typedef boost::shared_ptr< ::robot_sensor_msgs::JointState const> JointStateConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator==(const ::robot_sensor_msgs::JointState_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::JointState_<ContainerAllocator2> & rhs)
{
return lhs.header == rhs.header &&
lhs.name == rhs.name &&
lhs.position == rhs.position &&
lhs.velocity == rhs.velocity &&
lhs.effort == rhs.effort;
}
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator!=(const ::robot_sensor_msgs::JointState_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::JointState_<ContainerAllocator2> & rhs)
{
return !(lhs == rhs);
}
JointState() = default;
};
} // namespace robot_sensor_msgs } // namespace robot_sensor_msgs
#endif // ROBOT_SENSOR_MSGS_MESSAGE_JOINTSTATE_H

81
robot_sensor_msgs/include/robot_sensor_msgs/Joy.h
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@ -1,17 +1,80 @@
#pragma once // Generated by gencpp from file robot_sensor_msgs/Joy.msg
// DO NOT EDIT!
#ifndef ROBOT_SENSOR_MSGS_MESSAGE_JOY_H
#define ROBOT_SENSOR_MSGS_MESSAGE_JOY_H
#include <string>
#include <vector> #include <vector>
#include "robot_std_msgs/Header.h" #include <memory>
#include <boost/shared_ptr.hpp>
#include <robot_std_msgs/Header.h>
namespace robot_sensor_msgs namespace robot_sensor_msgs
{ {
template <class ContainerAllocator>
struct Joy struct Joy_
{ {
robot_std_msgs::Header header; // Thời điểm nhận dữ liệu từ joystick typedef Joy_<ContainerAllocator> Type;
std::vector<float> axes; // Các giá trị trục analog (ví dụ: X, Y, Z, throttle, ...)
std::vector<int32_t> buttons; // Trạng thái nút bấm (0 = nhả, 1 = nhấn) Joy_()
: header()
, axes()
, buttons() {
}
Joy_(const ContainerAllocator& _alloc)
: header(_alloc)
, axes(_alloc)
, buttons(_alloc) {
(void)_alloc;
}
typedef ::robot_std_msgs::Header_<ContainerAllocator> _header_type;
_header_type header;
typedef std::vector<float, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<float>> _axes_type;
_axes_type axes;
typedef std::vector<int32_t, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<int32_t>> _buttons_type;
_buttons_type buttons;
typedef boost::shared_ptr< ::robot_sensor_msgs::Joy_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::robot_sensor_msgs::Joy_<ContainerAllocator> const> ConstPtr;
}; // struct Joy_
typedef ::robot_sensor_msgs::Joy_<std::allocator<void> > Joy;
typedef boost::shared_ptr< ::robot_sensor_msgs::Joy > JoyPtr;
typedef boost::shared_ptr< ::robot_sensor_msgs::Joy const> JoyConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator==(const ::robot_sensor_msgs::Joy_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::Joy_<ContainerAllocator2> & rhs)
{
return lhs.header == rhs.header &&
lhs.axes == rhs.axes &&
lhs.buttons == rhs.buttons;
}
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator!=(const ::robot_sensor_msgs::Joy_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::Joy_<ContainerAllocator2> & rhs)
{
return !(lhs == rhs);
}
Joy() = default;
};
} // namespace robot_sensor_msgs } // namespace robot_sensor_msgs
#endif // ROBOT_SENSOR_MSGS_MESSAGE_JOY_H

98
robot_sensor_msgs/include/robot_sensor_msgs/JoyFeedback.h
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#ifndef JOY_FEEDBACK_H // Generated by gencpp from file robot_sensor_msgs/JoyFeedback.msg
#define JOY_FEEDBACK_H // DO NOT EDIT!
#include <cstdint>
#ifndef ROBOT_SENSOR_MSGS_MESSAGE_JOYFEEDBACK_H
#define ROBOT_SENSOR_MSGS_MESSAGE_JOYFEEDBACK_H
#include <string>
#include <vector>
#include <memory>
#include <boost/shared_ptr.hpp>
namespace robot_sensor_msgs namespace robot_sensor_msgs
{ {
template <class ContainerAllocator>
struct JoyFeedback struct JoyFeedback_
{ {
// Declare of the type of feedback typedef JoyFeedback_<ContainerAllocator> Type;
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 JoyFeedback_()
uint8_t id; // ID của từng loại feedback : type(0)
float intensity; // Cường độ (0.0 - 1.0) , id(0)
}; , intensity(0.0) {
}
JoyFeedback_(const ContainerAllocator& _alloc)
: type(0)
, id(0)
, intensity(0.0) {
(void)_alloc;
}
typedef uint8_t _type_type;
_type_type type;
typedef uint8_t _id_type;
_id_type id;
typedef float _intensity_type;
_intensity_type intensity;
// reducing the odds to have name collisions with Windows.h
#if defined(_WIN32) && defined(TYPE_LED)
#undef TYPE_LED
#endif
#if defined(_WIN32) && defined(TYPE_RUMBLE)
#undef TYPE_RUMBLE
#endif
#if defined(_WIN32) && defined(TYPE_BUZZER)
#undef TYPE_BUZZER
#endif
enum {
TYPE_LED = 0u,
TYPE_RUMBLE = 1u,
TYPE_BUZZER = 2u,
};
typedef boost::shared_ptr< ::robot_sensor_msgs::JoyFeedback_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::robot_sensor_msgs::JoyFeedback_<ContainerAllocator> const> ConstPtr;
}; // struct JoyFeedback_
typedef ::robot_sensor_msgs::JoyFeedback_<std::allocator<void> > JoyFeedback;
typedef boost::shared_ptr< ::robot_sensor_msgs::JoyFeedback > JoyFeedbackPtr;
typedef boost::shared_ptr< ::robot_sensor_msgs::JoyFeedback const> JoyFeedbackConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator==(const ::robot_sensor_msgs::JoyFeedback_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::JoyFeedback_<ContainerAllocator2> & rhs)
{
return lhs.type == rhs.type &&
lhs.id == rhs.id &&
lhs.intensity == rhs.intensity;
}
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator!=(const ::robot_sensor_msgs::JoyFeedback_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::JoyFeedback_<ContainerAllocator2> & rhs)
{
return !(lhs == rhs);
} }
#endif // JOY_FEEDBACK_H
} // namespace robot_sensor_msgs
#endif // ROBOT_SENSOR_MSGS_MESSAGE_JOYFEEDBACK_H

67
robot_sensor_msgs/include/robot_sensor_msgs/JoyFeedbackArray.h
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@ -1,16 +1,67 @@
#ifndef JOY_FEEDBACK_ARRAY_H // Generated by gencpp from file robot_sensor_msgs/JoyFeedbackArray.msg
#define JOY_FEEDBACK_ARRAY_H // DO NOT EDIT!
#ifndef ROBOT_SENSOR_MSGS_MESSAGE_JOYFEEDBACKARRAY_H
#define ROBOT_SENSOR_MSGS_MESSAGE_JOYFEEDBACKARRAY_H
#include <string>
#include <vector> #include <vector>
#include "robot_sensor_msgs/JoyFeedback.h" #include <memory>
#include <boost/shared_ptr.hpp>
#include <robot_sensor_msgs/JoyFeedback.h>
namespace robot_sensor_msgs namespace robot_sensor_msgs
{ {
template <class ContainerAllocator>
struct JoyFeedbackArray struct JoyFeedbackArray_
{ {
std::vector<JoyFeedback> array; // Danh sách các feedback typedef JoyFeedbackArray_<ContainerAllocator> Type;
};
JoyFeedbackArray_()
: array() {
}
JoyFeedbackArray_(const ContainerAllocator& _alloc)
: array(_alloc) {
(void)_alloc;
}
typedef std::vector< ::robot_sensor_msgs::JoyFeedback_<ContainerAllocator> , typename std::allocator_traits<ContainerAllocator>::template rebind_alloc< ::robot_sensor_msgs::JoyFeedback_<ContainerAllocator> >> _array_type;
_array_type array;
typedef boost::shared_ptr< ::robot_sensor_msgs::JoyFeedbackArray_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::robot_sensor_msgs::JoyFeedbackArray_<ContainerAllocator> const> ConstPtr;
}; // struct JoyFeedbackArray_
typedef ::robot_sensor_msgs::JoyFeedbackArray_<std::allocator<void> > JoyFeedbackArray;
typedef boost::shared_ptr< ::robot_sensor_msgs::JoyFeedbackArray > JoyFeedbackArrayPtr;
typedef boost::shared_ptr< ::robot_sensor_msgs::JoyFeedbackArray const> JoyFeedbackArrayConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator==(const ::robot_sensor_msgs::JoyFeedbackArray_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::JoyFeedbackArray_<ContainerAllocator2> & rhs)
{
return lhs.array == rhs.array;
}
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator!=(const ::robot_sensor_msgs::JoyFeedbackArray_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::JoyFeedbackArray_<ContainerAllocator2> & rhs)
{
return !(lhs == rhs);
}
} // namespace robot_sensor_msgs } // namespace robot_sensor_msgs
#endif // JOY_FEEDBACK_ARRAY_H
#endif // ROBOT_SENSOR_MSGS_MESSAGE_JOYFEEDBACKARRAY_H

67
robot_sensor_msgs/include/robot_sensor_msgs/LaserEcho.h
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@ -1,16 +1,65 @@
#ifndef LASER_ECHO_H // Generated by gencpp from file robot_sensor_msgs/LaserEcho.msg
#define LASER_ECHO_H // DO NOT EDIT!
#ifndef ROBOT_SENSOR_MSGS_MESSAGE_LASERECHO_H
#define ROBOT_SENSOR_MSGS_MESSAGE_LASERECHO_H
#include <string>
#include <vector> #include <vector>
#include <memory>
#include <boost/shared_ptr.hpp>
namespace robot_sensor_msgs namespace robot_sensor_msgs
{ {
template <class ContainerAllocator>
struct LaserEcho struct LaserEcho_
{ {
// Mảng chứa nhiều giá trị đo (range hoặc intensity) typedef LaserEcho_<ContainerAllocator> Type;
// Tất cả đều thuộc cùng một góc quét
std::vector<float> echoes;
};
LaserEcho_()
: echoes() {
}
LaserEcho_(const ContainerAllocator& _alloc)
: echoes(_alloc) {
(void)_alloc;
}
typedef std::vector<float, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<float>> _echoes_type;
_echoes_type echoes;
typedef boost::shared_ptr< ::robot_sensor_msgs::LaserEcho_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::robot_sensor_msgs::LaserEcho_<ContainerAllocator> const> ConstPtr;
}; // struct LaserEcho_
typedef ::robot_sensor_msgs::LaserEcho_<std::allocator<void> > LaserEcho;
typedef boost::shared_ptr< ::robot_sensor_msgs::LaserEcho > LaserEchoPtr;
typedef boost::shared_ptr< ::robot_sensor_msgs::LaserEcho const> LaserEchoConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator==(const ::robot_sensor_msgs::LaserEcho_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::LaserEcho_<ContainerAllocator2> & rhs)
{
return lhs.echoes == rhs.echoes;
} }
#endif // LASER_ECHO_H
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator!=(const ::robot_sensor_msgs::LaserEcho_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::LaserEcho_<ContainerAllocator2> & rhs)
{
return !(lhs == rhs);
}
} // namespace robot_sensor_msgs
#endif // ROBOT_SENSOR_MSGS_MESSAGE_LASERECHO_H

130
robot_sensor_msgs/include/robot_sensor_msgs/LaserScan.h
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@ -1,34 +1,120 @@
#ifndef LASER_SCAN_H // Generated by gencpp from file robot_sensor_msgs/LaserScan.msg
#define LASER_SCAN_H // DO NOT EDIT!
#ifndef ROBOT_SENSOR_MSGS_MESSAGE_LASERSCAN_H
#define ROBOT_SENSOR_MSGS_MESSAGE_LASERSCAN_H
#include <string>
#include <vector> #include <vector>
#include "robot_std_msgs/Header.h" #include <memory>
#include <boost/shared_ptr.hpp>
#include <robot_std_msgs/Header.h>
namespace robot_sensor_msgs namespace robot_sensor_msgs
{ {
template <class ContainerAllocator>
struct LaserScan struct LaserScan_
{ {
robot_std_msgs::Header header; // Thời gian và frame của phép đo typedef LaserScan_<ContainerAllocator> Type;
// Góc bắt đầu và kết thúc của tia quét [rad] LaserScan_()
float angle_min = 0.0f; : header()
float angle_max = 0.0f; , angle_min(0.0)
float angle_increment = 0.0f; // Khoảng cách góc giữa hai tia quét liên tiếp [rad] , angle_max(0.0)
, angle_increment(0.0)
, time_increment(0.0)
, scan_time(0.0)
, range_min(0.0)
, range_max(0.0)
, ranges()
, intensities() {
}
LaserScan_(const ContainerAllocator& _alloc)
: header(_alloc)
, angle_min(0.0)
, angle_max(0.0)
, angle_increment(0.0)
, time_increment(0.0)
, scan_time(0.0)
, range_min(0.0)
, range_max(0.0)
, ranges(_alloc)
, intensities(_alloc) {
(void)_alloc;
}
// 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 typedef ::robot_std_msgs::Header_<ContainerAllocator> _header_type;
std::vector<float> ranges; // Dữ liệu khoảng cách [m] _header_type header;
std::vector<float> intensities; // Cường độ phản xạ (đơn vị phụ thuộc thiết bị)
LaserScan() = default; typedef float _angle_min_type;
}; _angle_min_type angle_min;
typedef float _angle_max_type;
_angle_max_type angle_max;
typedef float _angle_increment_type;
_angle_increment_type angle_increment;
typedef float _time_increment_type;
_time_increment_type time_increment;
typedef float _scan_time_type;
_scan_time_type scan_time;
typedef float _range_min_type;
_range_min_type range_min;
typedef float _range_max_type;
_range_max_type range_max;
typedef std::vector<float, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<float>> _ranges_type;
_ranges_type ranges;
typedef std::vector<float, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<float>> _intensities_type;
_intensities_type intensities;
typedef boost::shared_ptr< ::robot_sensor_msgs::LaserScan_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::robot_sensor_msgs::LaserScan_<ContainerAllocator> const> ConstPtr;
}; // struct LaserScan_
typedef ::robot_sensor_msgs::LaserScan_<std::allocator<void> > LaserScan;
typedef boost::shared_ptr< ::robot_sensor_msgs::LaserScan > LaserScanPtr;
typedef boost::shared_ptr< ::robot_sensor_msgs::LaserScan const> LaserScanConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator==(const ::robot_sensor_msgs::LaserScan_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::LaserScan_<ContainerAllocator2> & rhs)
{
return lhs.header == rhs.header &&
lhs.angle_min == rhs.angle_min &&
lhs.angle_max == rhs.angle_max &&
lhs.angle_increment == rhs.angle_increment &&
lhs.time_increment == rhs.time_increment &&
lhs.scan_time == rhs.scan_time &&
lhs.range_min == rhs.range_min &&
lhs.range_max == rhs.range_max &&
lhs.ranges == rhs.ranges &&
lhs.intensities == rhs.intensities;
} }
#endif // LASER_SCAN_H
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator!=(const ::robot_sensor_msgs::LaserScan_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::LaserScan_<ContainerAllocator2> & rhs)
{
return !(lhs == rhs);
}
} // namespace robot_sensor_msgs
#endif // ROBOT_SENSOR_MSGS_MESSAGE_LASERSCAN_H

128
robot_sensor_msgs/include/robot_sensor_msgs/MultiEchoLaserScan.h
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@ -1,32 +1,122 @@
#ifndef MULTI_ECHO_LASER_SCAN_H // Generated by gencpp from file robot_sensor_msgs/MultiEchoLaserScan.msg
#define MULTI_ECHO_LASER_SCAN_H // DO NOT EDIT!
#ifndef ROBOT_SENSOR_MSGS_MESSAGE_MULTIECHOLASERSCAN_H
#define ROBOT_SENSOR_MSGS_MESSAGE_MULTIECHOLASERSCAN_H
#include <string>
#include <vector> #include <vector>
#include "robot_std_msgs/Header.h" #include <memory>
#include "robot_sensor_msgs/LaserEcho.h" // Định nghĩa struct LaserEcho (float32[] echoes) #include <boost/shared_ptr.hpp>
#include <robot_std_msgs/Header.h>
#include <robot_sensor_msgs/LaserEcho.h>
#include <robot_sensor_msgs/LaserEcho.h>
namespace robot_sensor_msgs namespace robot_sensor_msgs
{ {
template <class ContainerAllocator>
struct MultiEchoLaserScan struct MultiEchoLaserScan_
{ {
robot_std_msgs::Header header; // Thông tin thời gian & frame của phép đo typedef MultiEchoLaserScan_<ContainerAllocator> Type;
float angle_min = 0.0f; // Góc bắt đầu quét (radians) MultiEchoLaserScan_()
float angle_max = 0.0f; // Góc kết thúc quét (radians) : header()
float angle_increment = 0.0f; // Độ tăng góc giữa 2 tia liên tiếp (radians) , angle_min(0.0)
, angle_max(0.0)
, angle_increment(0.0)
, time_increment(0.0)
, scan_time(0.0)
, range_min(0.0)
, range_max(0.0)
, ranges()
, intensities() {
}
MultiEchoLaserScan_(const ContainerAllocator& _alloc)
: header(_alloc)
, angle_min(0.0)
, angle_max(0.0)
, angle_increment(0.0)
, time_increment(0.0)
, scan_time(0.0)
, range_min(0.0)
, range_max(0.0)
, ranges(_alloc)
, intensities(_alloc) {
(void)_alloc;
}
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<LaserEcho> ranges; // Dữ liệu khoảng cách (m) typedef ::robot_std_msgs::Header_<ContainerAllocator> _header_type;
std::vector<LaserEcho> intensities; // Dữ liệu cường độ (tùy chọn) _header_type header;
MultiEchoLaserScan() = default; typedef float _angle_min_type;
}; _angle_min_type angle_min;
typedef float _angle_max_type;
_angle_max_type angle_max;
typedef float _angle_increment_type;
_angle_increment_type angle_increment;
typedef float _time_increment_type;
_time_increment_type time_increment;
typedef float _scan_time_type;
_scan_time_type scan_time;
typedef float _range_min_type;
_range_min_type range_min;
typedef float _range_max_type;
_range_max_type range_max;
typedef std::vector< ::robot_sensor_msgs::LaserEcho_<ContainerAllocator> , typename std::allocator_traits<ContainerAllocator>::template rebind_alloc< ::robot_sensor_msgs::LaserEcho_<ContainerAllocator> >> _ranges_type;
_ranges_type ranges;
typedef std::vector< ::robot_sensor_msgs::LaserEcho_<ContainerAllocator> , typename std::allocator_traits<ContainerAllocator>::template rebind_alloc< ::robot_sensor_msgs::LaserEcho_<ContainerAllocator> >> _intensities_type;
_intensities_type intensities;
typedef boost::shared_ptr< ::robot_sensor_msgs::MultiEchoLaserScan_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::robot_sensor_msgs::MultiEchoLaserScan_<ContainerAllocator> const> ConstPtr;
}; // struct MultiEchoLaserScan_
typedef ::robot_sensor_msgs::MultiEchoLaserScan_<std::allocator<void> > MultiEchoLaserScan;
typedef boost::shared_ptr< ::robot_sensor_msgs::MultiEchoLaserScan > MultiEchoLaserScanPtr;
typedef boost::shared_ptr< ::robot_sensor_msgs::MultiEchoLaserScan const> MultiEchoLaserScanConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator==(const ::robot_sensor_msgs::MultiEchoLaserScan_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::MultiEchoLaserScan_<ContainerAllocator2> & rhs)
{
return lhs.header == rhs.header &&
lhs.angle_min == rhs.angle_min &&
lhs.angle_max == rhs.angle_max &&
lhs.angle_increment == rhs.angle_increment &&
lhs.time_increment == rhs.time_increment &&
lhs.scan_time == rhs.scan_time &&
lhs.range_min == rhs.range_min &&
lhs.range_max == rhs.range_max &&
lhs.ranges == rhs.ranges &&
lhs.intensities == rhs.intensities;
} }
#endif // MULTI_ECHO_LASER_SCAN_H
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator!=(const ::robot_sensor_msgs::MultiEchoLaserScan_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::MultiEchoLaserScan_<ContainerAllocator2> & rhs)
{
return !(lhs == rhs);
}
} // namespace robot_sensor_msgs
#endif // ROBOT_SENSOR_MSGS_MESSAGE_MULTIECHOLASERSCAN_H

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robot_sensor_msgs/include/robot_sensor_msgs/PointCloud.h
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@ -1,24 +1,81 @@
#ifndef POINTCLOUD_H // Generated by gencpp from file robot_sensor_msgs/PointCloud.msg
#define POINTCLOUD_H // DO NOT EDIT!
#ifndef ROBOT_SENSOR_MSGS_MESSAGE_POINTCLOUD_H
#define ROBOT_SENSOR_MSGS_MESSAGE_POINTCLOUD_H
#include <vector>
#include <string> #include <string>
#include "robot_std_msgs/Header.h" #include <vector>
#include "robot_geometry_msgs/Point32.h" #include <memory>
#include "robot_sensor_msgs/ChannelFloat32.h" #include <boost/shared_ptr.hpp>
#include <robot_std_msgs/Header.h>
#include <robot_geometry_msgs/Point32.h>
#include <robot_sensor_msgs/ChannelFloat32.h>
namespace robot_sensor_msgs namespace robot_sensor_msgs
{ {
template <class ContainerAllocator>
struct PointCloud struct PointCloud_
{ {
robot_std_msgs::Header header; // Thông tin thời gian & frame của dữ liệu typedef PointCloud_<ContainerAllocator> Type;
std::vector<robot_geometry_msgs::Point32> points; // Danh sách các điểm 3D (x, y, z) PointCloud_()
std::vector<ChannelFloat32> channels; // Dữ liệu phụ đi kèm (vd: "intensity", "rgb") : header()
, points()
, channels() {
}
PointCloud_(const ContainerAllocator& _alloc)
: header(_alloc)
, points(_alloc)
, channels(_alloc) {
(void)_alloc;
}
PointCloud() = default;
};
typedef ::robot_std_msgs::Header_<ContainerAllocator> _header_type;
_header_type header;
typedef std::vector< ::robot_geometry_msgs::Point32_<ContainerAllocator> , typename std::allocator_traits<ContainerAllocator>::template rebind_alloc< ::robot_geometry_msgs::Point32_<ContainerAllocator> >> _points_type;
_points_type points;
typedef std::vector< ::robot_sensor_msgs::ChannelFloat32_<ContainerAllocator> , typename std::allocator_traits<ContainerAllocator>::template rebind_alloc< ::robot_sensor_msgs::ChannelFloat32_<ContainerAllocator> >> _channels_type;
_channels_type channels;
typedef boost::shared_ptr< ::robot_sensor_msgs::PointCloud_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::robot_sensor_msgs::PointCloud_<ContainerAllocator> const> ConstPtr;
}; // struct PointCloud_
typedef ::robot_sensor_msgs::PointCloud_<std::allocator<void> > PointCloud;
typedef boost::shared_ptr< ::robot_sensor_msgs::PointCloud > PointCloudPtr;
typedef boost::shared_ptr< ::robot_sensor_msgs::PointCloud const> PointCloudConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator==(const ::robot_sensor_msgs::PointCloud_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::PointCloud_<ContainerAllocator2> & rhs)
{
return lhs.header == rhs.header &&
lhs.points == rhs.points &&
lhs.channels == rhs.channels;
} }
#endif // POINTCLOUD_H
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator!=(const ::robot_sensor_msgs::PointCloud_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::PointCloud_<ContainerAllocator2> & rhs)
{
return !(lhs == rhs);
}
} // namespace robot_sensor_msgs
#endif // ROBOT_SENSOR_MSGS_MESSAGE_POINTCLOUD_H

122
robot_sensor_msgs/include/robot_sensor_msgs/PointCloud2.h
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#ifndef POINTCLOUD2_H // Generated by gencpp from file robot_sensor_msgs/PointCloud2.msg
#define POINTCLOUD2_H // DO NOT EDIT!
#ifndef ROBOT_SENSOR_MSGS_MESSAGE_POINTCLOUD2_H
#define ROBOT_SENSOR_MSGS_MESSAGE_POINTCLOUD2_H
#include <cstdint>
#include <string> #include <string>
#include <vector> #include <vector>
#include "robot_std_msgs/Header.h" #include <memory>
#include "robot_sensor_msgs/PointField.h" #include <boost/shared_ptr.hpp>
#include <robot_std_msgs/Header.h>
#include <robot_sensor_msgs/PointField.h>
namespace robot_sensor_msgs namespace robot_sensor_msgs
{ {
template <class ContainerAllocator>
struct PointCloud2 struct PointCloud2_
{ {
robot_std_msgs::Header header; // Thời gian và frame của dữ liệu typedef PointCloud2_<ContainerAllocator> Type;
uint32_t height = 1; // Số hàng (1 nếu là point cloud 1D) PointCloud2_()
uint32_t width = 0; // Số lượng điểm trên mỗi hàng (tổng điểm = height * width) : header()
, height(0)
, width(0)
, fields()
, is_bigendian(false)
, point_step(0)
, row_step(0)
, data()
, is_dense(false) {
}
PointCloud2_(const ContainerAllocator& _alloc)
: header(_alloc)
, height(0)
, width(0)
, fields(_alloc)
, is_bigendian(false)
, point_step(0)
, row_step(0)
, data(_alloc)
, is_dense(false) {
(void)_alloc;
}
std::vector<PointField> 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<uint8_t> data; // Dữ liệu nhị phân (raw bytes), kích thước = row_step * height typedef ::robot_std_msgs::Header_<ContainerAllocator> _header_type;
_header_type header;
bool is_dense = false; // true nếu không có điểm NaN hoặc vô hiệu typedef uint32_t _height_type;
_height_type height;
PointCloud2() = default; typedef uint32_t _width_type;
}; _width_type width;
typedef std::vector< ::robot_sensor_msgs::PointField_<ContainerAllocator> , typename std::allocator_traits<ContainerAllocator>::template rebind_alloc< ::robot_sensor_msgs::PointField_<ContainerAllocator> >> _fields_type;
_fields_type fields;
typedef uint8_t _is_bigendian_type;
_is_bigendian_type is_bigendian;
typedef uint32_t _point_step_type;
_point_step_type point_step;
typedef uint32_t _row_step_type;
_row_step_type row_step;
typedef std::vector<uint8_t, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<uint8_t>> _data_type;
_data_type data;
typedef uint8_t _is_dense_type;
_is_dense_type is_dense;
typedef boost::shared_ptr< ::robot_sensor_msgs::PointCloud2_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::robot_sensor_msgs::PointCloud2_<ContainerAllocator> const> ConstPtr;
}; // struct PointCloud2_
typedef ::robot_sensor_msgs::PointCloud2_<std::allocator<void> > PointCloud2;
typedef boost::shared_ptr< ::robot_sensor_msgs::PointCloud2 > PointCloud2Ptr;
typedef boost::shared_ptr< ::robot_sensor_msgs::PointCloud2 const> PointCloud2ConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator==(const ::robot_sensor_msgs::PointCloud2_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::PointCloud2_<ContainerAllocator2> & rhs)
{
return lhs.header == rhs.header &&
lhs.height == rhs.height &&
lhs.width == rhs.width &&
lhs.fields == rhs.fields &&
lhs.is_bigendian == rhs.is_bigendian &&
lhs.point_step == rhs.point_step &&
lhs.row_step == rhs.row_step &&
lhs.data == rhs.data &&
lhs.is_dense == rhs.is_dense;
} }
#endif // POINTCLOUD2_H
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator!=(const ::robot_sensor_msgs::PointCloud2_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::PointCloud2_<ContainerAllocator2> & rhs)
{
return !(lhs == rhs);
}
} // namespace robot_sensor_msgs
#endif // ROBOT_SENSOR_MSGS_MESSAGE_POINTCLOUD2_H

133
robot_sensor_msgs/include/robot_sensor_msgs/PointField.h
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#ifndef POINTFIELD_H // Generated by gencpp from file robot_sensor_msgs/PointField.msg
#define POINTFIELD_H // DO NOT EDIT!
#ifndef ROBOT_SENSOR_MSGS_MESSAGE_POINTFIELD_H
#define ROBOT_SENSOR_MSGS_MESSAGE_POINTFIELD_H
#include <cstdint>
#include <string> #include <string>
#include <vector>
#include <memory>
#include <boost/shared_ptr.hpp>
namespace robot_sensor_msgs namespace robot_sensor_msgs
{ {
template <class ContainerAllocator>
struct PointField struct PointField_
{ {
// Các hằng số kiểu dữ liệu (theo chuẩn ROS) typedef PointField_<ContainerAllocator> Type;
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") PointField_()
uint32_t offset = 0; // Vị trí byte bắt đầu trong cấu trúc mỗi điểm : name()
uint8_t datatype = 0; // Kiểu dữ liệu (sử dụng các hằng ở trên) , offset(0)
uint32_t count = 0; // Số phần tử trong trường (vd: 3 cho vector3) , datatype(0)
, count(0) {
}
PointField_(const ContainerAllocator& _alloc)
: name(_alloc)
, offset(0)
, datatype(0)
, count(0) {
(void)_alloc;
}
PointField() = default;
};
typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _name_type;
_name_type name;
typedef uint32_t _offset_type;
_offset_type offset;
typedef uint8_t _datatype_type;
_datatype_type datatype;
typedef uint32_t _count_type;
_count_type count;
// reducing the odds to have name collisions with Windows.h
#if defined(_WIN32) && defined(INT8)
#undef INT8
#endif
#if defined(_WIN32) && defined(UINT8)
#undef UINT8
#endif
#if defined(_WIN32) && defined(INT16)
#undef INT16
#endif
#if defined(_WIN32) && defined(UINT16)
#undef UINT16
#endif
#if defined(_WIN32) && defined(INT32)
#undef INT32
#endif
#if defined(_WIN32) && defined(UINT32)
#undef UINT32
#endif
#if defined(_WIN32) && defined(FLOAT32)
#undef FLOAT32
#endif
#if defined(_WIN32) && defined(FLOAT64)
#undef FLOAT64
#endif
enum {
INT8 = 1u,
UINT8 = 2u,
INT16 = 3u,
UINT16 = 4u,
INT32 = 5u,
UINT32 = 6u,
FLOAT32 = 7u,
FLOAT64 = 8u,
};
typedef boost::shared_ptr< ::robot_sensor_msgs::PointField_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::robot_sensor_msgs::PointField_<ContainerAllocator> const> ConstPtr;
}; // struct PointField_
typedef ::robot_sensor_msgs::PointField_<std::allocator<void> > PointField;
typedef boost::shared_ptr< ::robot_sensor_msgs::PointField > PointFieldPtr;
typedef boost::shared_ptr< ::robot_sensor_msgs::PointField const> PointFieldConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator==(const ::robot_sensor_msgs::PointField_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::PointField_<ContainerAllocator2> & rhs)
{
return lhs.name == rhs.name &&
lhs.offset == rhs.offset &&
lhs.datatype == rhs.datatype &&
lhs.count == rhs.count;
} }
#endif // POINTFIELD_H
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator!=(const ::robot_sensor_msgs::PointField_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::PointField_<ContainerAllocator2> & rhs)
{
return !(lhs == rhs);
}
} // namespace robot_sensor_msgs
#endif // ROBOT_SENSOR_MSGS_MESSAGE_POINTFIELD_H

116
robot_sensor_msgs/include/robot_sensor_msgs/Range.h
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#ifndef RANGE_H // Generated by gencpp from file robot_sensor_msgs/Range.msg
#define RANGE_H // DO NOT EDIT!
#include <cstdint>
#include "robot_std_msgs/Header.h" // Header tương tự robot_std_msgs/Header #ifndef ROBOT_SENSOR_MSGS_MESSAGE_RANGE_H
#define ROBOT_SENSOR_MSGS_MESSAGE_RANGE_H
#include <string>
#include <vector>
#include <memory>
#include <boost/shared_ptr.hpp>
#include <robot_std_msgs/Header.h>
namespace robot_sensor_msgs namespace robot_sensor_msgs
{ {
template <class ContainerAllocator>
struct Range struct Range_
{ {
// Các hằng số loại bức xạ (radiation type) typedef Range_<ContainerAllocator> Type;
static constexpr uint8_t ULTRASOUND = 0;
static constexpr uint8_t INFRARED = 1;
Header header; // Thời gian đo và frame_id Range_()
: header()
, radiation_type(0)
, field_of_view(0.0)
, min_range(0.0)
, max_range(0.0)
, range(0.0) {
}
Range_(const ContainerAllocator& _alloc)
: header(_alloc)
, radiation_type(0)
, field_of_view(0.0)
, min_range(0.0)
, max_range(0.0)
, range(0.0) {
(void)_alloc;
}
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;
};
typedef ::robot_std_msgs::Header_<ContainerAllocator> _header_type;
_header_type header;
typedef uint8_t _radiation_type_type;
_radiation_type_type radiation_type;
typedef float _field_of_view_type;
_field_of_view_type field_of_view;
typedef float _min_range_type;
_min_range_type min_range;
typedef float _max_range_type;
_max_range_type max_range;
typedef float _range_type;
_range_type range;
// reducing the odds to have name collisions with Windows.h
#if defined(_WIN32) && defined(ULTRASOUND)
#undef ULTRASOUND
#endif
#if defined(_WIN32) && defined(INFRARED)
#undef INFRARED
#endif
enum {
ULTRASOUND = 0u,
INFRARED = 1u,
};
typedef boost::shared_ptr< ::robot_sensor_msgs::Range_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::robot_sensor_msgs::Range_<ContainerAllocator> const> ConstPtr;
}; // struct Range_
typedef ::robot_sensor_msgs::Range_<std::allocator<void> > Range;
typedef boost::shared_ptr< ::robot_sensor_msgs::Range > RangePtr;
typedef boost::shared_ptr< ::robot_sensor_msgs::Range const> RangeConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator==(const ::robot_sensor_msgs::Range_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::Range_<ContainerAllocator2> & rhs)
{
return lhs.header == rhs.header &&
lhs.radiation_type == rhs.radiation_type &&
lhs.field_of_view == rhs.field_of_view &&
lhs.min_range == rhs.min_range &&
lhs.max_range == rhs.max_range &&
lhs.range == rhs.range;
} }
#endif // RANGE_H
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator!=(const ::robot_sensor_msgs::Range_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::Range_<ContainerAllocator2> & rhs)
{
return !(lhs == rhs);
}
} // namespace robot_sensor_msgs
#endif // ROBOT_SENSOR_MSGS_MESSAGE_RANGE_H

94
robot_sensor_msgs/include/robot_sensor_msgs/RegionOfInterest.h
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#ifndef REGION_OF_INTEREST_H // Generated by gencpp from file robot_sensor_msgs/RegionOfInterest.msg
#define REGION_OF_INTEREST_H // DO NOT EDIT!
#include <cstdint>
#ifndef ROBOT_SENSOR_MSGS_MESSAGE_REGIONOFINTEREST_H
#define ROBOT_SENSOR_MSGS_MESSAGE_REGIONOFINTEREST_H
#include <string>
#include <vector>
#include <memory>
#include <boost/shared_ptr.hpp>
namespace robot_sensor_msgs namespace robot_sensor_msgs
{ {
template <class ContainerAllocator>
struct RegionOfInterest struct RegionOfInterest_
{ {
uint32_t x_offset = 0; // Pixel ngoài cùng bên trái của ROI typedef RegionOfInterest_<ContainerAllocator> Type;
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_()
: x_offset(0)
, y_offset(0)
, height(0)
, width(0)
, do_rectify(false) {
}
RegionOfInterest_(const ContainerAllocator& _alloc)
: x_offset(0)
, y_offset(0)
, height(0)
, width(0)
, do_rectify(false) {
(void)_alloc;
}
RegionOfInterest() = default;
};
typedef uint32_t _x_offset_type;
_x_offset_type x_offset;
typedef uint32_t _y_offset_type;
_y_offset_type y_offset;
typedef uint32_t _height_type;
_height_type height;
typedef uint32_t _width_type;
_width_type width;
typedef uint8_t _do_rectify_type;
_do_rectify_type do_rectify;
typedef boost::shared_ptr< ::robot_sensor_msgs::RegionOfInterest_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::robot_sensor_msgs::RegionOfInterest_<ContainerAllocator> const> ConstPtr;
}; // struct RegionOfInterest_
typedef ::robot_sensor_msgs::RegionOfInterest_<std::allocator<void> > RegionOfInterest;
typedef boost::shared_ptr< ::robot_sensor_msgs::RegionOfInterest > RegionOfInterestPtr;
typedef boost::shared_ptr< ::robot_sensor_msgs::RegionOfInterest const> RegionOfInterestConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator==(const ::robot_sensor_msgs::RegionOfInterest_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::RegionOfInterest_<ContainerAllocator2> & rhs)
{
return lhs.x_offset == rhs.x_offset &&
lhs.y_offset == rhs.y_offset &&
lhs.height == rhs.height &&
lhs.width == rhs.width &&
lhs.do_rectify == rhs.do_rectify;
} }
#endif // REGION_OF_INTEREST_H
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator!=(const ::robot_sensor_msgs::RegionOfInterest_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::RegionOfInterest_<ContainerAllocator2> & rhs)
{
return !(lhs == rhs);
}
} // namespace robot_sensor_msgs
#endif // ROBOT_SENSOR_MSGS_MESSAGE_REGIONOFINTEREST_H

83
robot_sensor_msgs/include/robot_sensor_msgs/RelativeHumidity.h
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#ifndef RELATIVE_HUMIDITY_H // Generated by gencpp from file robot_sensor_msgs/RelativeHumidity.msg
#define RELATIVE_HUMIDITY_H // DO NOT EDIT!
#ifndef ROBOT_SENSOR_MSGS_MESSAGE_RELATIVEHUMIDITY_H
#define ROBOT_SENSOR_MSGS_MESSAGE_RELATIVEHUMIDITY_H
#include <string>
#include <vector>
#include <memory>
#include <boost/shared_ptr.hpp>
#include <robot_std_msgs/Header.h>
#include <cstdint>
#include "robot_std_msgs/Header.h" // Giả định bạn đã có struct Header tương tự ROS robot_std_msgs/Header
namespace robot_sensor_msgs namespace robot_sensor_msgs
{ {
template <class ContainerAllocator>
struct RelativeHumidity struct RelativeHumidity_
{ {
Header header; // Thời điểm đo và khung tọa độ cảm biến typedef RelativeHumidity_<ContainerAllocator> Type;
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; RelativeHumidity_()
}; : header()
, relative_humidity(0.0)
, variance(0.0) {
}
RelativeHumidity_(const ContainerAllocator& _alloc)
: header(_alloc)
, relative_humidity(0.0)
, variance(0.0) {
(void)_alloc;
}
typedef ::robot_std_msgs::Header_<ContainerAllocator> _header_type;
_header_type header;
typedef double _relative_humidity_type;
_relative_humidity_type relative_humidity;
typedef double _variance_type;
_variance_type variance;
typedef boost::shared_ptr< ::robot_sensor_msgs::RelativeHumidity_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::robot_sensor_msgs::RelativeHumidity_<ContainerAllocator> const> ConstPtr;
}; // struct RelativeHumidity_
typedef ::robot_sensor_msgs::RelativeHumidity_<std::allocator<void> > RelativeHumidity;
typedef boost::shared_ptr< ::robot_sensor_msgs::RelativeHumidity > RelativeHumidityPtr;
typedef boost::shared_ptr< ::robot_sensor_msgs::RelativeHumidity const> RelativeHumidityConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator==(const ::robot_sensor_msgs::RelativeHumidity_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::RelativeHumidity_<ContainerAllocator2> & rhs)
{
return lhs.header == rhs.header &&
lhs.relative_humidity == rhs.relative_humidity &&
lhs.variance == rhs.variance;
} }
#endif // RELATIVE_HUMIDITY_H
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator!=(const ::robot_sensor_msgs::RelativeHumidity_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::RelativeHumidity_<ContainerAllocator2> & rhs)
{
return !(lhs == rhs);
}
} // namespace robot_sensor_msgs
#endif // ROBOT_SENSOR_MSGS_MESSAGE_RELATIVEHUMIDITY_H

85
robot_sensor_msgs/include/robot_sensor_msgs/Temperature.h
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#ifndef TEMPERATURE_H // Generated by gencpp from file robot_sensor_msgs/Temperature.msg
#define TEMPERATURE_H // DO NOT EDIT!
#ifndef ROBOT_SENSOR_MSGS_MESSAGE_TEMPERATURE_H
#define ROBOT_SENSOR_MSGS_MESSAGE_TEMPERATURE_H
#include <string>
#include <vector>
#include <memory>
#include <boost/shared_ptr.hpp>
#include <robot_std_msgs/Header.h>
#include <cstdint>
#include "robot_std_msgs/Header.h" // Định nghĩa struct Header tương tự robot_std_msgs/Header
namespace robot_sensor_msgs namespace robot_sensor_msgs
{ {
template <class ContainerAllocator>
struct Temperature struct Temperature_
{ {
Header header; // Thông tin thời gian và vị trí cảm biến typedef Temperature_<ContainerAllocator> Type;
double temperature = 0.0; // Nhiệt độ đo được (°C)
double variance = 0.0; // Phương sai, 0 nghĩa là "không biết"
Temperature() = default; Temperature_()
}; : header()
, temperature(0.0)
, variance(0.0) {
}
Temperature_(const ContainerAllocator& _alloc)
: header(_alloc)
, temperature(0.0)
, variance(0.0) {
(void)_alloc;
}
typedef ::robot_std_msgs::Header_<ContainerAllocator> _header_type;
_header_type header;
typedef double _temperature_type;
_temperature_type temperature;
typedef double _variance_type;
_variance_type variance;
typedef boost::shared_ptr< ::robot_sensor_msgs::Temperature_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::robot_sensor_msgs::Temperature_<ContainerAllocator> const> ConstPtr;
}; // struct Temperature_
typedef ::robot_sensor_msgs::Temperature_<std::allocator<void> > Temperature;
typedef boost::shared_ptr< ::robot_sensor_msgs::Temperature > TemperaturePtr;
typedef boost::shared_ptr< ::robot_sensor_msgs::Temperature const> TemperatureConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator==(const ::robot_sensor_msgs::Temperature_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::Temperature_<ContainerAllocator2> & rhs)
{
return lhs.header == rhs.header &&
lhs.temperature == rhs.temperature &&
lhs.variance == rhs.variance;
} }
#endif // TEMPERATURE_H
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator!=(const ::robot_sensor_msgs::Temperature_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::Temperature_<ContainerAllocator2> & rhs)
{
return !(lhs == rhs);
}
} // namespace robot_sensor_msgs
#endif // ROBOT_SENSOR_MSGS_MESSAGE_TEMPERATURE_H

82
robot_sensor_msgs/include/robot_sensor_msgs/TimeReference.h
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#ifndef TIMEREFERENCE_H // Generated by gencpp from file robot_sensor_msgs/TimeReference.msg
#define TIMEREFERENCE_H // DO NOT EDIT!
#ifndef ROBOT_SENSOR_MSGS_MESSAGE_TIMEREFERENCE_H
#define ROBOT_SENSOR_MSGS_MESSAGE_TIMEREFERENCE_H
#include <string> #include <string>
#include "robot_std_msgs/Header.h" // Định nghĩa struct Header tương tự robot_std_msgs/Header #include <vector>
#include <memory>
#include <boost/shared_ptr.hpp>
#include <robot_std_msgs/Header.h>
namespace robot_sensor_msgs namespace robot_sensor_msgs
{ {
template <class ContainerAllocator>
struct TimeReference struct TimeReference_
{ {
Header header; // stamp: thời điểm đo (theo đồng hồ hệ thống) typedef TimeReference_<ContainerAllocator> Type;
// 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; TimeReference_()
}; : header()
, time_ref()
, source() {
}
TimeReference_(const ContainerAllocator& _alloc)
: header(_alloc)
, time_ref()
, source(_alloc) {
(void)_alloc;
}
typedef ::robot_std_msgs::Header_<ContainerAllocator> _header_type;
_header_type header;
typedef ros::Time _time_ref_type;
_time_ref_type time_ref;
typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _source_type;
_source_type source;
typedef boost::shared_ptr< ::robot_sensor_msgs::TimeReference_<ContainerAllocator> > Ptr;
typedef boost::shared_ptr< ::robot_sensor_msgs::TimeReference_<ContainerAllocator> const> ConstPtr;
}; // struct TimeReference_
typedef ::robot_sensor_msgs::TimeReference_<std::allocator<void> > TimeReference;
typedef boost::shared_ptr< ::robot_sensor_msgs::TimeReference > TimeReferencePtr;
typedef boost::shared_ptr< ::robot_sensor_msgs::TimeReference const> TimeReferenceConstPtr;
// constants requiring out of line definition
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator==(const ::robot_sensor_msgs::TimeReference_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::TimeReference_<ContainerAllocator2> & rhs)
{
return lhs.header == rhs.header &&
lhs.time_ref == rhs.time_ref &&
lhs.source == rhs.source;
} }
#endif // TIMEREFERENCE_H
template<typename ContainerAllocator1, typename ContainerAllocator2>
bool operator!=(const ::robot_sensor_msgs::TimeReference_<ContainerAllocator1> & lhs, const ::robot_sensor_msgs::TimeReference_<ContainerAllocator2> & rhs)
{
return !(lhs == rhs);
}
} // namespace robot_sensor_msgs
#endif // ROBOT_SENSOR_MSGS_MESSAGE_TIMEREFERENCE_H

4
robot_sensor_msgs/include/robot_sensor_msgs/distortion_models.h
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@ -33,8 +33,8 @@
* POSSIBILITY OF SUCH DAMAGE. * POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/ *********************************************************************/
#ifndef SENSOR_MSGS_DISTORTION_MODELS_H #ifndef ROBOT_SENSOR_MSGS_DISTORTION_MODELS_H
#define SENSOR_MSGS_DISTORTION_MODELS_H #define ROBOT_SENSOR_MSGS_DISTORTION_MODELS_H
#include <string> #include <string>

4
robot_sensor_msgs/include/robot_sensor_msgs/fill_image.h
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@ -32,8 +32,8 @@
* POSSIBILITY OF SUCH DAMAGE. * POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/ *********************************************************************/
#ifndef FILLIMAGE_HH #ifndef ROBOT_FILLIMAGE_HH
#define FILLIMAGE_HH #define ROBOT_FILLIMAGE_HH
#include "robot_sensor_msgs/Image.h" #include "robot_sensor_msgs/Image.h"
#include "robot_sensor_msgs/image_encodings.h" #include "robot_sensor_msgs/image_encodings.h"

4
robot_sensor_msgs/include/robot_sensor_msgs/image_encodings.h
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@ -33,8 +33,8 @@
* POSSIBILITY OF SUCH DAMAGE. * POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/ *********************************************************************/
#ifndef SENSOR_MSGS_IMAGE_ENCODINGS_H #ifndef ROBOT_SENSOR_MSGS_IMAGE_ENCODINGS_H
#define SENSOR_MSGS_IMAGE_ENCODINGS_H #define ROBOT_SENSOR_MSGS_IMAGE_ENCODINGS_H
#include <cstdlib> #include <cstdlib>
#include <stdexcept> #include <stdexcept>

6
robot_sensor_msgs/include/robot_sensor_msgs/point_cloud2_iterator.h
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@ -32,8 +32,8 @@
* POSSIBILITY OF SUCH DAMAGE. * POSSIBILITY OF SUCH DAMAGE.
*/ */
#ifndef SENSOR_MSGS_POINT_CLOUD2_ITERATOR_H #ifndef ROBOT_SENSOR_MSGS_POINT_CLOUD2_ITERATOR_H
#define SENSOR_MSGS_POINT_CLOUD2_ITERATOR_H #define ROBOT_SENSOR_MSGS_POINT_CLOUD2_ITERATOR_H
#include <robot_sensor_msgs/PointCloud2.h> #include <robot_sensor_msgs/PointCloud2.h>
#include <cstdarg> #include <cstdarg>
@ -299,4 +299,4 @@ public:
#include <robot_sensor_msgs/impl/point_cloud2_iterator.h> #include <robot_sensor_msgs/impl/point_cloud2_iterator.h>
#endif// SENSOR_MSGS_POINT_CLOUD2_ITERATOR_H #endif// ROBOT_SENSOR_MSGS_POINT_CLOUD2_ITERATOR_H

6
robot_sensor_msgs/include/robot_sensor_msgs/point_cloud_conversion.h
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@ -35,8 +35,8 @@
* *
*/ */
#ifndef SENSOR_MSGS_POINT_CLOUD_CONVERSION_H #ifndef ROBOT_SENSOR_MSGS_POINT_CLOUD_CONVERSION_H
#define SENSOR_MSGS_POINT_CLOUD_CONVERSION_H #define ROBOT_SENSOR_MSGS_POINT_CLOUD_CONVERSION_H
#include <robot_sensor_msgs/PointCloud.h> #include <robot_sensor_msgs/PointCloud.h>
#include <robot_sensor_msgs/PointCloud2.h> #include <robot_sensor_msgs/PointCloud2.h>
@ -166,4 +166,4 @@ static inline bool convertPointCloud2ToPointCloud (const robot_sensor_msgs::Poin
return (true); return (true);
} }
} }
#endif// SENSOR_MSGS_POINT_CLOUD_CONVERSION_H #endif// ROBOT_SENSOR_MSGS_POINT_CLOUD_CONVERSION_H

4
robot_sensor_msgs/include/robot_sensor_msgs/point_field_conversion.h
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@ -43,8 +43,8 @@
* Authors: Sebastian Pütz <spuetz@uni-osnabrueck.de> * Authors: Sebastian Pütz <spuetz@uni-osnabrueck.de>
*/ */
#ifndef SENSOR_MSGS_POINT_FIELD_CONVERSION_H #ifndef ROBOT_SENSOR_MSGS_POINT_FIELD_CONVERSION_H
#define SENSOR_MSGS_POINT_FIELD_CONVERSION_H #define ROBOT_SENSOR_MSGS_POINT_FIELD_CONVERSION_H
/** /**
* \brief This file provides a type to enum mapping for the different * \brief This file provides a type to enum mapping for the different