diff --git a/nav_msgs/include/nav_msgs/GridCells.h b/nav_msgs/include/nav_msgs/GridCells.h
index 77dfc13..afe3ec1 100644
--- a/nav_msgs/include/nav_msgs/GridCells.h
+++ b/nav_msgs/include/nav_msgs/GridCells.h
@@ -1,47 +1,82 @@
-// #an array of cells in a 2D grid
-// Header header
-// float32 cell_width
-// float32 cell_height
-// geometry_msgs/Point[] cells
-#ifndef GRID_CELLS_H
-#define GRID_CELLS_H
+// Generated by gencpp from file nav_msgs/GridCells.msg
+// DO NOT EDIT!
+
+
+#ifndef NAV_MSGS_MESSAGE_GRIDCELLS_H
+#define NAV_MSGS_MESSAGE_GRIDCELLS_H
+
 
-#include <cstdint>
 #include <string>
 #include <vector>
-#include "std_msgs/Header.h"
-#include "geometry_msgs/Point.h"
+#include <memory>
+#include <boost/shared_ptr.hpp>
+
+#include <std_msgs/Header.h>
+#include <geometry_msgs/Point.h>
 
 namespace nav_msgs
 {
-
-struct GridCells
+template <class ContainerAllocator>
+struct GridCells_
 {
-    std_msgs::Header header;
-    float cell_width;
-    float cell_height;
-    std::vector<geometry_msgs::Point> cells;
-    
-    GridCells() = default;
-};
+  typedef GridCells_<ContainerAllocator> Type;
 
-inline bool operator==(const nav_msgs::GridCells & lhs, const nav_msgs::GridCells & rhs)
-{
-    if(lhs.cells.size() != rhs.cells.size()) return false;
-    for(int i = 0; i < lhs.cells.size(); i++)
-    {
-        if(lhs.cells[i] != rhs.cells[i]) return false;
+  GridCells_()
+    : header()
+    , cell_width(0.0)
+    , cell_height(0.0)
+    , cells()  {
     }
+  GridCells_(const ContainerAllocator& _alloc)
+    : header(_alloc)
+    , cell_width(0.0)
+    , cell_height(0.0)
+    , cells(_alloc)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef  ::std_msgs::Header  _header_type;
+  _header_type header;
+
+   typedef float _cell_width_type;
+  _cell_width_type cell_width;
+
+   typedef float _cell_height_type;
+  _cell_height_type cell_height;
+
+   typedef std::vector< ::geometry_msgs::Point , typename std::allocator_traits<ContainerAllocator>::template rebind_alloc< ::geometry_msgs::Point >> _cells_type;
+  _cells_type cells;
+
+
+
+
+  typedef boost::shared_ptr< ::nav_msgs::GridCells_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::nav_msgs::GridCells_<ContainerAllocator> const> ConstPtr;
+
+}; // struct GridCells_
+
+typedef ::nav_msgs::GridCells_<std::allocator<void> > GridCells;
+
+typedef boost::shared_ptr< ::nav_msgs::GridCells > GridCellsPtr;
+typedef boost::shared_ptr< ::nav_msgs::GridCells const> GridCellsConstPtr;
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::nav_msgs::GridCells_<ContainerAllocator1> & lhs, const ::nav_msgs::GridCells_<ContainerAllocator2> & rhs)
+{
   return lhs.header == rhs.header &&
-    isEqual(lhs.cell_width, rhs.cell_width) &&
-    isEqual(lhs.cell_height, rhs.cell_height);
+    lhs.cell_width == rhs.cell_width &&
+    lhs.cell_height == rhs.cell_height &&
+    lhs.cells == rhs.cells;
 }
 
-inline bool operator!=(const nav_msgs::GridCells & lhs, const nav_msgs::GridCells & rhs)
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::nav_msgs::GridCells_<ContainerAllocator1> & lhs, const ::nav_msgs::GridCells_<ContainerAllocator2> & rhs)
 {
   return !(lhs == rhs);
 }
 
-}
+} // namespace nav_msgs
 
-#endif //GRID_CELLS_H
\ No newline at end of file
+#endif // NAV_MSGS_MESSAGE_GRIDCELLS_H
diff --git a/nav_msgs/include/nav_msgs/MapMetaData.h b/nav_msgs/include/nav_msgs/MapMetaData.h
index dfabfcd..37e5ddc 100644
--- a/nav_msgs/include/nav_msgs/MapMetaData.h
+++ b/nav_msgs/include/nav_msgs/MapMetaData.h
@@ -1,40 +1,88 @@
-#ifndef MAP_META_DATA_H
-#define MAP_META_DATA_H
+// Generated by gencpp from file nav_msgs/MapMetaData.msg
+// DO NOT EDIT!
+
+
+#ifndef NAV_MSGS_MESSAGE_MAPMETADATA_H
+#define NAV_MSGS_MESSAGE_MAPMETADATA_H
+
 
-#include <cstdint>
 #include <string>
 #include <vector>
-#include "geometry_msgs/Pose.h"
-#include "utils.h"
+#include <memory>
+#include <boost/shared_ptr.hpp>
+
+#include <robot/time.h>
+#include <geometry_msgs/Pose.h>
 
 namespace nav_msgs
 {
-
-struct MapMetaData
+template <class ContainerAllocator>
+struct MapMetaData_
 {
-    double map_load_time;
-    float resolution;
-    uint32_t width;
-    uint32_t height;
-    geometry_msgs::Pose origin;
+  typedef MapMetaData_<ContainerAllocator> Type;
 
-    MapMetaData() : map_load_time(0.0), resolution(0.0), width(0), height(0), origin() {}
-};
+  MapMetaData_()
+    : map_load_time()
+    , resolution(0.0)
+    , width(0)
+    , height(0)
+    , origin()  {
+    }
+  MapMetaData_(const ContainerAllocator& _alloc)
+    : map_load_time()
+    , resolution(0.0)
+    , width(0)
+    , height(0)
+    , origin(_alloc)  {
+  (void)_alloc;
+    }
 
-inline bool operator==(const nav_msgs::MapMetaData & lhs, const nav_msgs::MapMetaData & rhs)
+
+
+   typedef robot::Time _map_load_time_type;
+  _map_load_time_type map_load_time;
+
+   typedef float _resolution_type;
+  _resolution_type resolution;
+
+   typedef uint32_t _width_type;
+  _width_type width;
+
+   typedef uint32_t _height_type;
+  _height_type height;
+
+   typedef  ::geometry_msgs::Pose  _origin_type;
+  _origin_type origin;
+
+
+
+
+  typedef boost::shared_ptr< ::nav_msgs::MapMetaData_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::nav_msgs::MapMetaData_<ContainerAllocator> const> ConstPtr;
+
+}; // struct MapMetaData_
+
+typedef ::nav_msgs::MapMetaData_<std::allocator<void> > MapMetaData;
+
+typedef boost::shared_ptr< ::nav_msgs::MapMetaData > MapMetaDataPtr;
+typedef boost::shared_ptr< ::nav_msgs::MapMetaData const> MapMetaDataConstPtr;
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::nav_msgs::MapMetaData_<ContainerAllocator1> & lhs, const ::nav_msgs::MapMetaData_<ContainerAllocator2> & rhs)
 {
-  return isEqual(lhs.map_load_time, rhs.map_load_time) &&
-    isEqual(lhs.resolution, rhs.resolution) &&
+  return lhs.map_load_time == rhs.map_load_time &&
+    lhs.resolution == rhs.resolution &&
     lhs.width == rhs.width &&
     lhs.height == rhs.height &&
     lhs.origin == rhs.origin;
 }
 
-inline bool operator!=(const nav_msgs::MapMetaData & lhs, const nav_msgs::MapMetaData & rhs)
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::nav_msgs::MapMetaData_<ContainerAllocator1> & lhs, const ::nav_msgs::MapMetaData_<ContainerAllocator2> & rhs)
 {
   return !(lhs == rhs);
 }
 
-}
+} // namespace nav_msgs
 
-#endif //MAP_META_DATA_H
\ No newline at end of file
+#endif // NAV_MSGS_MESSAGE_MAPMETADATA_H
diff --git a/nav_msgs/include/nav_msgs/OccupancyGrid.h b/nav_msgs/include/nav_msgs/OccupancyGrid.h
index 4a4c665..787d119 100644
--- a/nav_msgs/include/nav_msgs/OccupancyGrid.h
+++ b/nav_msgs/include/nav_msgs/OccupancyGrid.h
@@ -1,42 +1,76 @@
-#ifndef OCCUPANCY_GRID_H
-#define OCCUPANCY_GRID_H
+// Generated by gencpp from file nav_msgs/OccupancyGrid.msg
+// DO NOT EDIT!
+
+
+#ifndef NAV_MSGS_MESSAGE_OCCUPANCYGRID_H
+#define NAV_MSGS_MESSAGE_OCCUPANCYGRID_H
+
 
-#include <cstdint>
 #include <string>
 #include <vector>
+#include <memory>
+#include <boost/shared_ptr.hpp>
+
 #include <std_msgs/Header.h>
 #include <nav_msgs/MapMetaData.h>
 
 namespace nav_msgs
 {
-
-struct OccupancyGrid
+template <class ContainerAllocator>
+struct OccupancyGrid_
 {
-std_msgs::Header header;
+  typedef OccupancyGrid_<ContainerAllocator> Type;
 
-MapMetaData info;
-
-std::vector<uint8_t> data;
-OccupancyGrid() = default;
-};
-
-inline bool operator==(const nav_msgs::OccupancyGrid & lhs, const nav_msgs::OccupancyGrid & rhs)
-{
-    if(lhs.data.size() != rhs.data.size()) return false;
-    for(int i = 0; i < lhs.data.size(); i++)
-    {
-        if(lhs.data[i] != rhs.data[i]) return false;
+  OccupancyGrid_()
+    : header()
+    , info()
+    , data()  {
+    }
+  OccupancyGrid_(const ContainerAllocator& _alloc)
+    : header(_alloc)
+    , info(_alloc)
+    , data(_alloc)  {
+  (void)_alloc;
     }
-  return lhs.header == rhs.header &&
-    lhs.info == rhs.info;
 
+
+
+   typedef  ::std_msgs::Header  _header_type;
+  _header_type header;
+
+   typedef  ::nav_msgs::MapMetaData_<ContainerAllocator>  _info_type;
+  _info_type info;
+
+   typedef std::vector<int8_t, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<int8_t>> _data_type;
+  _data_type data;
+
+
+
+
+  typedef boost::shared_ptr< ::nav_msgs::OccupancyGrid_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::nav_msgs::OccupancyGrid_<ContainerAllocator> const> ConstPtr;
+
+}; // struct OccupancyGrid_
+
+typedef ::nav_msgs::OccupancyGrid_<std::allocator<void> > OccupancyGrid;
+
+typedef boost::shared_ptr< ::nav_msgs::OccupancyGrid > OccupancyGridPtr;
+typedef boost::shared_ptr< ::nav_msgs::OccupancyGrid const> OccupancyGridConstPtr;
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::nav_msgs::OccupancyGrid_<ContainerAllocator1> & lhs, const ::nav_msgs::OccupancyGrid_<ContainerAllocator2> & rhs)
+{
+  return lhs.header == rhs.header &&
+    lhs.info == rhs.info &&
+    lhs.data == rhs.data;
 }
 
-inline bool operator!=(const nav_msgs::OccupancyGrid & lhs, const nav_msgs::OccupancyGrid & rhs)
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::nav_msgs::OccupancyGrid_<ContainerAllocator1> & lhs, const ::nav_msgs::OccupancyGrid_<ContainerAllocator2> & rhs)
 {
   return !(lhs == rhs);
 }
 
 } // namespace nav_msgs
 
-#endif //OCCUPANCY_GRID_H
+#endif // NAV_MSGS_MESSAGE_OCCUPANCYGRID_H
diff --git a/nav_msgs/include/nav_msgs/Odometry.h b/nav_msgs/include/nav_msgs/Odometry.h
index 3207d2e..dcca099 100644
--- a/nav_msgs/include/nav_msgs/Odometry.h
+++ b/nav_msgs/include/nav_msgs/Odometry.h
@@ -1,35 +1,70 @@
-// # This represents an estimate of a position and velocity in free space.  
-// # The pose in this message should be specified in the coordinate frame given by header.frame_id.
-// # The twist in this message should be specified in the coordinate frame given by the child_frame_id
-// Header header
-// string child_frame_id
-// geometry_msgs/PoseWithCovariance pose
-// geometry_msgs/TwistWithCovariance twist
-#ifndef ODOMETRY_H
-#define ODOMETRY_H
+// Generated by gencpp from file nav_msgs/Odometry.msg
+// DO NOT EDIT!
+
+
+#ifndef NAV_MSGS_MESSAGE_ODOMETRY_H
+#define NAV_MSGS_MESSAGE_ODOMETRY_H
+
 
-#include <cstdint>
 #include <string>
 #include <vector>
-#include "std_msgs/Header.h"
-#include "geometry_msgs/Point.h"
+#include <memory>
+#include <boost/shared_ptr.hpp>
+
+#include <std_msgs/Header.h>
 #include <geometry_msgs/PoseWithCovariance.h>
 #include <geometry_msgs/TwistWithCovariance.h>
 
 namespace nav_msgs
 {
-
-struct Odometry
+template <class ContainerAllocator>
+struct Odometry_
 {
-    std_msgs::Header header;
-    std::string child_frame_id;
-    geometry_msgs::PoseWithCovariance pose;
-    geometry_msgs::TwistWithCovariance twist;
+  typedef Odometry_<ContainerAllocator> Type;
 
-    Odometry() = default;
-};
+  Odometry_()
+    : header()
+    , child_frame_id()
+    , pose()
+    , twist()  {
+    }
+  Odometry_(const ContainerAllocator& _alloc)
+    : header(_alloc)
+    , child_frame_id(_alloc)
+    , pose(_alloc)
+    , twist(_alloc)  {
+  (void)_alloc;
+    }
 
-inline bool operator==(const nav_msgs::Odometry & lhs, const nav_msgs::Odometry & rhs)
+
+
+   typedef  ::std_msgs::Header  _header_type;
+  _header_type header;
+
+   typedef std::basic_string<char, std::char_traits<char>, typename std::allocator_traits<ContainerAllocator>::template rebind_alloc<char>> _child_frame_id_type;
+  _child_frame_id_type child_frame_id;
+
+   typedef  ::geometry_msgs::PoseWithCovariance  _pose_type;
+  _pose_type pose;
+
+   typedef  ::geometry_msgs::TwistWithCovariance  _twist_type;
+  _twist_type twist;
+
+
+
+
+  typedef boost::shared_ptr< ::nav_msgs::Odometry_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::nav_msgs::Odometry_<ContainerAllocator> const> ConstPtr;
+
+}; // struct Odometry_
+
+typedef ::nav_msgs::Odometry_<std::allocator<void> > Odometry;
+
+typedef boost::shared_ptr< ::nav_msgs::Odometry > OdometryPtr;
+typedef boost::shared_ptr< ::nav_msgs::Odometry const> OdometryConstPtr;
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::nav_msgs::Odometry_<ContainerAllocator1> & lhs, const ::nav_msgs::Odometry_<ContainerAllocator2> & rhs)
 {
   return lhs.header == rhs.header &&
     lhs.child_frame_id == rhs.child_frame_id &&
@@ -37,12 +72,12 @@ inline bool operator==(const nav_msgs::Odometry & lhs, const nav_msgs::Odometry
     lhs.twist == rhs.twist;
 }
 
-inline bool operator!=(const nav_msgs::Odometry & lhs, const nav_msgs::Odometry & rhs)
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::nav_msgs::Odometry_<ContainerAllocator1> & lhs, const ::nav_msgs::Odometry_<ContainerAllocator2> & rhs)
 {
   return !(lhs == rhs);
 }
 
+} // namespace nav_msgs
 
-}
-
-#endif //ODOMETRY_H
\ No newline at end of file
+#endif // NAV_MSGS_MESSAGE_ODOMETRY_H
diff --git a/nav_msgs/include/nav_msgs/Path.h b/nav_msgs/include/nav_msgs/Path.h
index b6a3eab..192d1b6 100644
--- a/nav_msgs/include/nav_msgs/Path.h
+++ b/nav_msgs/include/nav_msgs/Path.h
@@ -1,42 +1,70 @@
-// #An array of poses that represents a Path for a robot to follow
-// Header header
-// geometry_msgs/PoseStamped[] poses
-#ifndef PATH_H
-#define PATH_H
+// Generated by gencpp from file nav_msgs/Path.msg
+// DO NOT EDIT!
+
+
+#ifndef NAV_MSGS_MESSAGE_PATH_H
+#define NAV_MSGS_MESSAGE_PATH_H
+
 
-#include <cstdint>
 #include <string>
 #include <vector>
-#include "std_msgs/Header.h"
-#include "geometry_msgs/PoseStamped.h"
+#include <memory>
+#include <boost/shared_ptr.hpp>
+
+#include <std_msgs/Header.h>
+#include <geometry_msgs/PoseStamped.h>
 
 namespace nav_msgs
 {
-
-struct Path
+template <class ContainerAllocator>
+struct Path_
 {
-    std_msgs::Header header;
-    std::vector<geometry_msgs::PoseStamped> poses;
+  typedef Path_<ContainerAllocator> Type;
 
-    Path() = default;
-};
-
-bool operator==(const nav_msgs::Path & lhs, const nav_msgs::Path & rhs)
-{
-    if(lhs.poses.size() != rhs.poses.size()) return false;
-    for(int i = 0; i < lhs.poses.size(); i++)
-    {
-        if(lhs.poses[i] != rhs.poses[i]) return false;
+  Path_()
+    : header()
+    , poses()  {
     }
-  return lhs.header == rhs.header;
+  Path_(const ContainerAllocator& _alloc)
+    : header(_alloc)
+    , poses(_alloc)  {
+  (void)_alloc;
+    }
+
+
+
+   typedef  ::std_msgs::Header  _header_type;
+  _header_type header;
+
+   typedef std::vector< ::geometry_msgs::PoseStamped , typename std::allocator_traits<ContainerAllocator>::template rebind_alloc< ::geometry_msgs::PoseStamped >> _poses_type;
+  _poses_type poses;
+
+
+
+
+  typedef boost::shared_ptr< ::nav_msgs::Path_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::nav_msgs::Path_<ContainerAllocator> const> ConstPtr;
+
+}; // struct Path_
+
+typedef ::nav_msgs::Path_<std::allocator<void> > Path;
+
+typedef boost::shared_ptr< ::nav_msgs::Path > PathPtr;
+typedef boost::shared_ptr< ::nav_msgs::Path const> PathConstPtr;
+
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator==(const ::nav_msgs::Path_<ContainerAllocator1> & lhs, const ::nav_msgs::Path_<ContainerAllocator2> & rhs)
+{
+  return lhs.header == rhs.header &&
+    lhs.poses == rhs.poses;
 }
 
-bool operator!=(const nav_msgs::Path & lhs, const nav_msgs::Path & rhs)
+template<typename ContainerAllocator1, typename ContainerAllocator2>
+bool operator!=(const ::nav_msgs::Path_<ContainerAllocator1> & lhs, const ::nav_msgs::Path_<ContainerAllocator2> & rhs)
 {
   return !(lhs == rhs);
 }
 
-}
-
-#endif //PATH_H
+} // namespace nav_msgs
 
+#endif // NAV_MSGS_MESSAGE_PATH_H