update c_api

src/APIs/c_api/CMakeLists.txt

@@ -10,13 +10,12 @@ if(NOT CMAKE_BUILD_TYPE)
     set(CMAKE_BUILD_TYPE Release)
 endif()
 
-# Find Boost
-find_package(Boost REQUIRED)
+# Find Boost (filesystem needed for plugin path / boost::dll usage)
+find_package(Boost REQUIRED COMPONENTS filesystem system)
 
 # Dependencies
 set(PACKAGES_DIR
     move_base_core
-    move_base
     tf3
     robot_time
     robot_cpp
@@ -29,8 +28,28 @@ include_directories(
 )
 
 # Tìm tất cả file source
-file(GLOB SOURCES "src/*.cpp")
-file(GLOB HEADERS "include/*.h")
+file(GLOB SOURCES 
+    "src/*.cpp" 
+    "src/std_msgs/*.cpp" 
+    "src/sensor_msgs/*.cpp" 
+    "src/geometry_msgs/*.cpp"
+    "src/nav_msgs/*.cpp"
+    "src/nav_2d_msgs/*.cpp"
+    "src/robot_nav_msgs/*.cpp"
+    "src/robot_geometry_msgs/*.cpp"
+    "src/map_msgs/*.cpp"
+)
+file(GLOB HEADERS 
+    "include/*.h" 
+    "include/std_msgs/*.h" 
+    "include/sensor_msgs/*.h" 
+    "include/geometry_msgs/*.h"
+    "include/nav_msgs/*.h"
+    "include/nav_2d_msgs/*.h"
+    "include/robot_nav_msgs/*.h"
+    "include/robot_geometry_msgs/*.h"
+    "include/map_msgs/*.h"
+)
 
 # Tạo thư viện shared (.so)
 add_library(nav_c_api SHARED ${SOURCES} ${HEADERS})
@@ -41,6 +60,8 @@ target_link_libraries(nav_c_api
         ${PACKAGES_DIR}
     PRIVATE
         Boost::boost
+        Boost::filesystem
+        Boost::system
         dl
 )
 

src/APIs/c_api/include/convertor.h

@@ -0,0 +1,153 @@
+#ifndef C_API_CONVERTOR_H
+#define C_API_CONVERTOR_H
+
+// C
+#include "sensor_msgs/LaserScan.h"
+#include "sensor_msgs/PointCloud.h"
+#include "sensor_msgs/PointCloud2.h"
+#include "nav_msgs/Odometry.h"
+#include "std_msgs/Header.h"
+#include "nav_msgs/OccupancyGrid.h"
+#include "geometry_msgs/Point.h"
+#include "geometry_msgs/PoseStamped.h"
+#include "geometry_msgs/Pose2D.h"
+#include "nav_2d_msgs/Twist2D.h"
+#include "nav_2d_msgs/Twist2DStamped.h"
+
+// C++
+#include <robot_sensor_msgs/LaserScan.h>
+#include <robot_sensor_msgs/PointCloud.h>
+#include <robot_sensor_msgs/PointCloud2.h>
+#include <robot_nav_msgs/Odometry.h>
+#include <robot_nav_msgs/OccupancyGrid.h>
+#include <robot_geometry_msgs/PoseStamped.h>
+#include <robot_geometry_msgs/Pose2D.h>
+#include <robot_nav_2d_msgs/Twist2D.h>
+#include <robot_nav_2d_msgs/Twist2DStamped.h>
+
+#include <move_base_core/navigation.h>
+#include <move_base_core/common.h>
+
+/**
+ * @brief Convert C LaserScan to C++ LaserScan
+ * @param laser_scan C LaserScan
+ * @return C++ LaserScan
+ */
+robot_sensor_msgs::LaserScan convert2CppLaserScan(const LaserScan& laser_scan);
+
+/**
+ * @brief Convert C OccupancyGrid to C++ OccupancyGrid
+ * @param occupancy_grid C OccupancyGrid
+ * @return C++ OccupancyGrid
+ */
+robot_nav_msgs::OccupancyGrid convert2CppOccupancyGrid(const OccupancyGrid& occupancy_grid);
+
+/**
+ * @brief Convert C++ OccupancyGrid to C OccupancyGrid
+ * @param cpp C++ OccupancyGrid
+ * @param out C OccupancyGrid
+ */
+void convert2COccupancyGrid(const robot_nav_msgs::OccupancyGrid& cpp, OccupancyGrid& out);
+
+/**
+ * @brief Convert C++ LaserScan to C LaserScan
+ * @param cpp C++ LaserScan
+ * @param out C LaserScan
+ */
+void convert2CLaserScan(const robot_sensor_msgs::LaserScan& cpp, LaserScan& out);
+
+/**
+ * @brief Convert C++ PointCloud to C PointCloud
+ * @param cpp C++ PointCloud
+ * @param out C PointCloud
+ */
+void convert2CPointCloud(const robot_sensor_msgs::PointCloud& cpp, PointCloud& out);
+
+/**
+ * @brief Convert C++ PointCloud2 to C PointCloud2
+ * @param cpp C++ PointCloud2
+ * @param out C PointCloud2
+ */
+void convert2CPointCloud2(const robot_sensor_msgs::PointCloud2& cpp, PointCloud2& out);
+
+/**
+ * @brief Convert C PointCloud to C++ PointCloud
+ * @param c C PointCloud
+ * @return C++ PointCloud
+ */
+robot_sensor_msgs::PointCloud convert2CppPointCloud(const PointCloud& c);
+
+/**
+ * @brief Convert C PointCloud2 to C++ PointCloud2
+ * @param c C PointCloud2
+ * @return C++ PointCloud2
+ */
+robot_sensor_msgs::PointCloud2 convert2CppPointCloud2(const PointCloud2& c);
+
+/**
+ * @brief Convert C Odometry to C++ Odometry
+ * @param odometry C Odometry
+ * @return C++ Odometry
+ */
+robot_nav_msgs::Odometry convert2CppOdometry(const Odometry& odometry);
+
+/**
+ * @brief Convert C PoseStamped to C++ PoseStamped
+ * @param pose_stamped C PoseStamped
+ * @return C++ PoseStamped
+ */
+robot_geometry_msgs::PoseStamped convert2CppPoseStamped(const PoseStamped& pose_stamped);
+
+/**
+ * @brief Convert C++ PoseStamped to C PoseStamped
+ * @param cpp_pose_stamped C++ PoseStamped
+ * @return C PoseStamped
+ */
+PoseStamped convert2CPoseStamped(const robot_geometry_msgs::PoseStamped& cpp_pose_stamped);
+
+
+/**
+ * @brief Convert C Pose2D to C++ Pose2D
+ * @param pose_2d C Pose2D
+ * @return C++ Pose2D
+ */
+robot_geometry_msgs::Pose2D convert2CppPose2D(const Pose2D& pose_2d);
+
+/**
+ * @brief Convert C++ Pose2D to C Pose2D
+ * @param cpp_pose_2d C++ Pose2D
+ * @return C Pose2D
+ */
+ Pose2D convert2CPose2D(const robot_geometry_msgs::Pose2D& cpp_pose_2d);
+
+/**
+ * @brief Convert C Twist2D to C++ Twist2D
+ * @param twist_2d C Twist2D
+ * @return C++ Twist2D
+ */
+robot_nav_2d_msgs::Twist2D convert2CppTwist2D(const Twist2D& twist_2d);
+
+
+/**
+ * @brief Convert C++ Twist2D to C Twist2D
+ * @param cpp_twist_2d C++ Twist2D
+ * @return C Twist2D
+ */
+Twist2D convert2CTwist2D(const robot_nav_2d_msgs::Twist2D& cpp_twist_2d);
+
+/**
+ * @brief Convert C Twist2DStamped to C++ Twist2DStamped
+ * @param twist_2d_stamped C Twist2DStamped
+ * @return C++ Twist2DStamped
+ */
+robot_nav_2d_msgs::Twist2DStamped convert2CppTwist2DStamped(const Twist2DStamped& twist_2d_stamped);
+
+
+/**
+ * @brief Convert C++ Twist2DStamped to C Twist2DStamped
+ * @param cpp_twist_2d_stamped C++ Twist2DStamped
+ * @return C Twist2DStamped
+ */
+Twist2DStamped convert2CTwist2DStamped(const robot_nav_2d_msgs::Twist2DStamped& cpp_twist_2d_stamped);
+
+#endif // C_API_CONVERTOR_H

src/APIs/c_api/include/geometry_msgs/Accel.h

@@ -0,0 +1,22 @@
+#ifndef C_API_GEOMETRY_MSGS_ACCEL_H
+#define C_API_GEOMETRY_MSGS_ACCEL_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "geometry_msgs/Vector3.h"
+
+typedef struct
+{
+  Vector3 linear;
+  Vector3 angular;
+} Accel;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_ACCEL_H

src/APIs/c_api/include/geometry_msgs/AccelStamped.h

@@ -0,0 +1,23 @@
+#ifndef C_API_GEOMETRY_MSGS_ACCELSTAMPED_H
+#define C_API_GEOMETRY_MSGS_ACCELSTAMPED_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Accel.h"
+
+typedef struct
+{
+  Header header;
+  Accel accel;
+} AccelStamped;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_ACCELSTAMPED_H

src/APIs/c_api/include/geometry_msgs/AccelWithCovariance.h

@@ -0,0 +1,22 @@
+#ifndef C_API_GEOMETRY_MSGS_ACCELWITHCOVARIANCE_H
+#define C_API_GEOMETRY_MSGS_ACCELWITHCOVARIANCE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "geometry_msgs/Accel.h"
+
+typedef struct
+{
+  Accel accel;
+  double covariance[36];
+} AccelWithCovariance;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_ACCELWITHCOVARIANCE_H

src/APIs/c_api/include/geometry_msgs/AccelWithCovarianceStamped.h

@@ -0,0 +1,23 @@
+#ifndef C_API_GEOMETRY_MSGS_ACCELWITHCOVARIANCESTAMPED_H
+#define C_API_GEOMETRY_MSGS_ACCELWITHCOVARIANCESTAMPED_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "geometry_msgs/AccelWithCovariance.h"
+
+typedef struct
+{
+  Header header;
+  AccelWithCovariance accel;
+} AccelWithCovarianceStamped;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_ACCELWITHCOVARIANCESTAMPED_H

src/APIs/c_api/include/geometry_msgs/Inertia.h

@@ -0,0 +1,28 @@
+#ifndef C_API_GEOMETRY_MSGS_INERTIA_H
+#define C_API_GEOMETRY_MSGS_INERTIA_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "geometry_msgs/Vector3.h"
+
+typedef struct
+{
+  double m;
+  Vector3 com;
+  double ixx;
+  double ixy;
+  double ixz;
+  double iyy;
+  double iyz;
+  double izz;
+} Inertia;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_INERTIA_H

src/APIs/c_api/include/geometry_msgs/InertiaStamped.h

@@ -0,0 +1,23 @@
+#ifndef C_API_GEOMETRY_MSGS_INERTIASTAMPED_H
+#define C_API_GEOMETRY_MSGS_INERTIASTAMPED_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Inertia.h"
+
+typedef struct
+{
+  Header header;
+  Inertia inertia;
+} InertiaStamped;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_INERTIASTAMPED_H

src/APIs/c_api/include/geometry_msgs/Point.h

@@ -0,0 +1,21 @@
+#ifndef C_API_GEOMETRY_MSGS_POINT_H
+#define C_API_GEOMETRY_MSGS_POINT_H
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+#include <stdint.h>
+#include <stddef.h>
+
+  typedef struct
+  {
+    double x;
+    double y;
+    double z;
+  } Point;
+
+#ifdef __cplusplus
+}
+#endif
+#endif // C_API_GEOMETRY_MSGS_POINT_H

src/APIs/c_api/include/geometry_msgs/Point32.h

@@ -0,0 +1,22 @@
+#ifndef C_API_GEOMETRY_MSGS_POINT32_H
+#define C_API_GEOMETRY_MSGS_POINT32_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+
+typedef struct
+{
+  float x;
+  float y;
+  float z;
+} Point32;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_POINT32_H

src/APIs/c_api/include/geometry_msgs/PointStamped.h

@@ -0,0 +1,23 @@
+#ifndef C_API_GEOMETRY_MSGS_POINTSTAMPED_H
+#define C_API_GEOMETRY_MSGS_POINTSTAMPED_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Point.h"
+
+typedef struct
+{
+  Header header;
+  Point point;
+} PointStamped;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_POINTSTAMPED_H

src/APIs/c_api/include/geometry_msgs/Polygon.h

@@ -0,0 +1,22 @@
+#ifndef C_API_GEOMETRY_MSGS_POLYGON_H
+#define C_API_GEOMETRY_MSGS_POLYGON_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "geometry_msgs/Point32.h"
+
+typedef struct
+{
+  Point32 *points;
+  size_t points_count;
+} Polygon;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_POLYGON_H

src/APIs/c_api/include/geometry_msgs/PolygonStamped.h

@@ -0,0 +1,23 @@
+#ifndef C_API_GEOMETRY_MSGS_POLYGONSTAMPED_H
+#define C_API_GEOMETRY_MSGS_POLYGONSTAMPED_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Polygon.h"
+
+typedef struct
+{
+  Header header;
+  Polygon polygon;
+} PolygonStamped;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_POLYGONSTAMPED_H

src/APIs/c_api/include/geometry_msgs/Pose.h

@@ -0,0 +1,23 @@
+#ifndef C_API_GEOMETRY_MSGS_POSE_H
+#define C_API_GEOMETRY_MSGS_POSE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "geometry_msgs/Point.h"
+#include "geometry_msgs/Quaternion.h"
+
+typedef struct
+{
+  Point position;
+  Quaternion orientation;
+} Pose;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_POSE_H

src/APIs/c_api/include/geometry_msgs/Pose2D.h

@@ -0,0 +1,22 @@
+#ifndef C_API_GEOMETRY_MSGS_POSE2D_H
+#define C_API_GEOMETRY_MSGS_POSE2D_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+
+typedef struct
+{
+  double x;
+  double y;
+  double theta;
+} Pose2D;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_POSE2D_H

src/APIs/c_api/include/geometry_msgs/PoseArray.h

@@ -0,0 +1,24 @@
+#ifndef C_API_GEOMETRY_MSGS_POSEARRAY_H
+#define C_API_GEOMETRY_MSGS_POSEARRAY_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Pose.h"
+
+typedef struct
+{
+  Header header;
+  Pose *poses;
+  size_t poses_count;
+} PoseArray;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_POSEARRAY_H

src/APIs/c_api/include/geometry_msgs/PoseStamped.h

@@ -0,0 +1,23 @@
+#ifndef C_API_GEOMETRY_MSGS_POSESTAMPED_H
+#define C_API_GEOMETRY_MSGS_POSESTAMPED_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Pose.h"
+
+typedef struct
+{
+  Header header;
+  Pose pose;
+} PoseStamped;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_POSESTAMPED_H

src/APIs/c_api/include/geometry_msgs/PoseWithCovariance.h

@@ -0,0 +1,23 @@
+#ifndef C_API_GEOMETRY_MSGS_POSEWITHCOVARIANCE_H
+#define C_API_GEOMETRY_MSGS_POSEWITHCOVARIANCE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "geometry_msgs/Pose.h"
+
+typedef struct
+{
+  Pose pose;
+  double *covariance;
+  size_t covariance_count;
+} PoseWithCovariance;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_POSEWITHCOVARIANCE_H

src/APIs/c_api/include/geometry_msgs/PoseWithCovarianceStamped.h

@@ -0,0 +1,23 @@
+#ifndef C_API_GEOMETRY_MSGS_POSEWITHCOVARIANCESTAMPED_H
+#define C_API_GEOMETRY_MSGS_POSEWITHCOVARIANCESTAMPED_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "geometry_msgs/PoseWithCovariance.h"
+
+typedef struct
+{
+  Header header;
+  PoseWithCovariance pose;
+} PoseWithCovarianceStamped;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_POSEWITHCOVARIANCESTAMPED_H

src/APIs/c_api/include/geometry_msgs/Quaternion.h

@@ -0,0 +1,23 @@
+#ifndef C_API_GEOMETRY_MSGS_QUATERNION_H
+#define C_API_GEOMETRY_MSGS_QUATERNION_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+
+typedef struct
+{
+  double x;
+  double y;
+  double z;
+  double w;
+} Quaternion;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_QUATERNION_H

src/APIs/c_api/include/geometry_msgs/QuaternionStamped.h

@@ -0,0 +1,23 @@
+#ifndef C_API_GEOMETRY_MSGS_QUATERNIONSTAMPED_H
+#define C_API_GEOMETRY_MSGS_QUATERNIONSTAMPED_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Quaternion.h"
+
+typedef struct
+{
+  Header header;
+  Quaternion quaternion;
+} QuaternionStamped;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_QUATERNIONSTAMPED_H

src/APIs/c_api/include/geometry_msgs/Transform.h

@@ -0,0 +1,23 @@
+#ifndef C_API_GEOMETRY_MSGS_TRANSFORM_H
+#define C_API_GEOMETRY_MSGS_TRANSFORM_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "geometry_msgs/Vector3.h"
+#include "geometry_msgs/Quaternion.h"
+
+typedef struct
+{
+  Vector3 translation;
+  Quaternion rotation;
+} Transform;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_TRANSFORM_H

src/APIs/c_api/include/geometry_msgs/TransformStamped.h

@@ -0,0 +1,24 @@
+#ifndef C_API_GEOMETRY_MSGS_TRANSFORMSTAMPED_H
+#define C_API_GEOMETRY_MSGS_TRANSFORMSTAMPED_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Transform.h"
+
+typedef struct
+{
+  Header header;
+  char *child_frame_id;
+  Transform transform;
+} TransformStamped;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_TRANSFORMSTAMPED_H

src/APIs/c_api/include/geometry_msgs/Twist.h

@@ -0,0 +1,22 @@
+#ifndef C_API_GEOMETRY_MSGS_TWIST_H
+#define C_API_GEOMETRY_MSGS_TWIST_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "geometry_msgs/Vector3.h"
+
+typedef struct
+{
+  Vector3 linear;
+  Vector3 angular;
+} Twist;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_TWIST_H

src/APIs/c_api/include/geometry_msgs/TwistStamped.h

@@ -0,0 +1,23 @@
+#ifndef C_API_GEOMETRY_MSGS_TWISTSTAMPED_H
+#define C_API_GEOMETRY_MSGS_TWISTSTAMPED_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Twist.h"
+
+typedef struct
+{
+  Header header;
+  Twist twist;
+} TwistStamped;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_TWISTSTAMPED_H

src/APIs/c_api/include/geometry_msgs/TwistWithCovariance.h

@@ -0,0 +1,23 @@
+#ifndef C_API_GEOMETRY_MSGS_TWISTWITHCOVARIANCE_H
+#define C_API_GEOMETRY_MSGS_TWISTWITHCOVARIANCE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "geometry_msgs/Twist.h"
+
+typedef struct
+{
+  Twist twist;
+  double *covariance;
+  size_t covariance_count;
+} TwistWithCovariance;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_TWISTWITHCOVARIANCE_H

src/APIs/c_api/include/geometry_msgs/TwistWithCovarianceStamped.h

@@ -0,0 +1,23 @@
+#ifndef C_API_GEOMETRY_MSGS_TWISTWITHCOVARIANCESTAMPED_H
+#define C_API_GEOMETRY_MSGS_TWISTWITHCOVARIANCESTAMPED_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "geometry_msgs/TwistWithCovariance.h"
+
+typedef struct
+{
+  Header header;
+  TwistWithCovariance twist;
+} TwistWithCovarianceStamped;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_TWISTWITHCOVARIANCESTAMPED_H

src/APIs/c_api/include/geometry_msgs/Vector3.h

@@ -0,0 +1,22 @@
+#ifndef C_API_GEOMETRY_MSGS_VECTOR3_H
+#define C_API_GEOMETRY_MSGS_VECTOR3_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+
+typedef struct
+{
+  double x;
+  double y;
+  double z;
+} Vector3;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_VECTOR3_H

src/APIs/c_api/include/geometry_msgs/Vector3Stamped.h

@@ -0,0 +1,23 @@
+#ifndef C_API_GEOMETRY_MSGS_VECTOR3STAMPED_H
+#define C_API_GEOMETRY_MSGS_VECTOR3STAMPED_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Vector3.h"
+
+typedef struct
+{
+  Header header;
+  Vector3 vector;
+} Vector3Stamped;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_VECTOR3STAMPED_H

src/APIs/c_api/include/geometry_msgs/Wrench.h

@@ -0,0 +1,22 @@
+#ifndef C_API_GEOMETRY_MSGS_WRENCH_H
+#define C_API_GEOMETRY_MSGS_WRENCH_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "geometry_msgs/Vector3.h"
+
+typedef struct
+{
+  Vector3 force;
+  Vector3 torque;
+} Wrench;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_WRENCH_H

src/APIs/c_api/include/geometry_msgs/WrenchStamped.h

@@ -0,0 +1,23 @@
+#ifndef C_API_GEOMETRY_MSGS_WRENCHSTAMPED_H
+#define C_API_GEOMETRY_MSGS_WRENCHSTAMPED_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Wrench.h"
+
+typedef struct
+{
+  Header header;
+  Wrench wrench;
+} WrenchStamped;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_GEOMETRY_MSGS_WRENCHSTAMPED_H

src/APIs/c_api/include/map_msgs/OccupancyGridUpdate.h

@@ -0,0 +1,33 @@
+#ifndef C_API_ROBOT_MAP_MSGS_OCCUPANCYGRIDUPDATE_C_H
+#define C_API_ROBOT_MAP_MSGS_OCCUPANCYGRIDUPDATE_C_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+
+/**
+ * C representation of robot_map_msgs::OccupancyGridUpdate.
+ * Note: This header is intentionally named *_c.h to avoid
+ * shadowing the C++ header `robot_map_msgs/OccupancyGridUpdate.h`.
+ */
+typedef struct
+{
+  Header header;
+  int32_t x;
+  int32_t y;
+  uint32_t width;
+  uint32_t height;
+  int8_t *data;
+  size_t data_count;
+} OccupancyGridUpdate;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_ROBOT_MAP_MSGS_OCCUPANCYGRIDUPDATE_C_H
+

src/APIs/c_api/include/nav_2d_msgs/ComplexPolygon2D.h

@@ -0,0 +1,23 @@
+#ifndef C_API_NAV_2D_MSGS_COMPLEXPOLYGON2D_H
+#define C_API_NAV_2D_MSGS_COMPLEXPOLYGON2D_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "nav_2d_msgs/Polygon2D.h"
+
+typedef struct
+{
+  Polygon2D outer;
+  Polygon2D *inner;
+  size_t inner_count;
+} ComplexPolygon2D;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_NAV_2D_MSGS_COMPLEXPOLYGON2D_H

src/APIs/c_api/include/nav_2d_msgs/NavGridInfo.h

@@ -0,0 +1,25 @@
+#ifndef C_API_NAV_2D_MSGS_NAVGRIDINFO_H
+#define C_API_NAV_2D_MSGS_NAVGRIDINFO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+
+typedef struct
+{
+  uint32_t width;
+  uint32_t height;
+  double resolution;
+  char *frame_id;
+  double origin_x;
+  double origin_y;
+} NavGridInfo;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_NAV_2D_MSGS_NAVGRIDINFO_H

src/APIs/c_api/include/nav_2d_msgs/NavGridOfChars.h

@@ -0,0 +1,25 @@
+#ifndef C_API_NAV_2D_MSGS_NAVGRIDOFCHARS_H
+#define C_API_NAV_2D_MSGS_NAVGRIDOFCHARS_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Time.h"
+#include "nav_2d_msgs/NavGridInfo.h"
+
+typedef struct
+{
+  Time stamp;
+  NavGridInfo info;
+  uint8_t *data;
+  size_t data_count;
+} NavGridOfChars;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_NAV_2D_MSGS_NAVGRIDOFCHARS_H

src/APIs/c_api/include/nav_2d_msgs/NavGridOfCharsUpdate.h

@@ -0,0 +1,25 @@
+#ifndef C_API_NAV_2D_MSGS_NAVGRIDOFCHARSUPDATE_H
+#define C_API_NAV_2D_MSGS_NAVGRIDOFCHARSUPDATE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Time.h"
+#include "nav_2d_msgs/UIntBounds.h"
+
+typedef struct
+{
+  Time stamp;
+  UIntBounds bounds;
+  uint8_t *data;
+  size_t data_count;
+} NavGridOfCharsUpdate;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_NAV_2D_MSGS_NAVGRIDOFCHARSUPDATE_H

src/APIs/c_api/include/nav_2d_msgs/NavGridOfDoubles.h

@@ -0,0 +1,25 @@
+#ifndef C_API_NAV_2D_MSGS_NAVGRIDOFDOUBLES_H
+#define C_API_NAV_2D_MSGS_NAVGRIDOFDOUBLES_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Time.h"
+#include "nav_2d_msgs/NavGridInfo.h"
+
+typedef struct
+{
+  Time stamp;
+  NavGridInfo info;
+  double *data;
+  size_t data_count;
+} NavGridOfDoubles;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_NAV_2D_MSGS_NAVGRIDOFDOUBLES_H

src/APIs/c_api/include/nav_2d_msgs/NavGridOfDoublesUpdate.h

@@ -0,0 +1,25 @@
+#ifndef C_API_NAV_2D_MSGS_NAVGRIDOFDOUBLESUPDATE_H
+#define C_API_NAV_2D_MSGS_NAVGRIDOFDOUBLESUPDATE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Time.h"
+#include "nav_2d_msgs/UIntBounds.h"
+
+typedef struct
+{
+  Time stamp;
+  UIntBounds bounds;
+  double *data;
+  size_t data_count;
+} NavGridOfDoublesUpdate;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_NAV_2D_MSGS_NAVGRIDOFDOUBLESUPDATE_H

src/APIs/c_api/include/nav_2d_msgs/Path2D.h

@@ -0,0 +1,24 @@
+#ifndef C_API_NAV_2D_MSGS_PATH2D_H
+#define C_API_NAV_2D_MSGS_PATH2D_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "nav_2d_msgs/Pose2DStamped.h"
+
+typedef struct
+{
+  Header header;
+  Pose2DStamped *poses;
+  size_t poses_count;
+} Path2D;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_NAV_2D_MSGS_PATH2D_H

src/APIs/c_api/include/nav_2d_msgs/Point2D.h

@@ -0,0 +1,21 @@
+#ifndef C_API_NAV_2D_MSGS_POINT2D_H
+#define C_API_NAV_2D_MSGS_POINT2D_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+
+typedef struct
+{
+  double x;
+  double y;
+} Point2D;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_NAV_2D_MSGS_POINT2D_H

src/APIs/c_api/include/nav_2d_msgs/Polygon2D.h

@@ -0,0 +1,22 @@
+#ifndef C_API_NAV_2D_MSGS_POLYGON2D_H
+#define C_API_NAV_2D_MSGS_POLYGON2D_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "nav_2d_msgs/Point2D.h"
+
+typedef struct
+{
+  Point2D *points;
+  size_t points_count;
+} Polygon2D;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_NAV_2D_MSGS_POLYGON2D_H

src/APIs/c_api/include/nav_2d_msgs/Polygon2DCollection.h

@@ -0,0 +1,27 @@
+#ifndef C_API_NAV_2D_MSGS_POLYGON2DCOLLECTION_H
+#define C_API_NAV_2D_MSGS_POLYGON2DCOLLECTION_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "std_msgs/ColorRGBA.h"
+#include "nav_2d_msgs/ComplexPolygon2D.h"
+
+typedef struct
+{
+  Header header;
+  ComplexPolygon2D *polygons;
+  size_t polygons_count;
+  ColorRGBA *colors;
+  size_t colors_count;
+} Polygon2DCollection;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_NAV_2D_MSGS_POLYGON2DCOLLECTION_H

src/APIs/c_api/include/nav_2d_msgs/Polygon2DStamped.h

@@ -0,0 +1,23 @@
+#ifndef C_API_NAV_2D_MSGS_POLYGON2DSTAMPED_H
+#define C_API_NAV_2D_MSGS_POLYGON2DSTAMPED_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "nav_2d_msgs/Polygon2D.h"
+
+typedef struct
+{
+  Header header;
+  Polygon2D polygon;
+} Polygon2DStamped;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_NAV_2D_MSGS_POLYGON2DSTAMPED_H

src/APIs/c_api/include/nav_2d_msgs/Pose2D32.h

@@ -0,0 +1,22 @@
+#ifndef C_API_NAV_2D_MSGS_POSE2D32_H
+#define C_API_NAV_2D_MSGS_POSE2D32_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+
+typedef struct
+{
+  float x;
+  float y;
+  float theta;
+} Pose2D32;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_NAV_2D_MSGS_POSE2D32_H

src/APIs/c_api/include/nav_2d_msgs/Pose2DStamped.h

@@ -0,0 +1,23 @@
+#ifndef C_API_NAV_2D_MSGS_POSE2DSTAMPED_H
+#define C_API_NAV_2D_MSGS_POSE2DSTAMPED_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Pose2D.h"
+
+typedef struct
+{
+  Header header;
+  Pose2D pose;
+} Pose2DStamped;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_NAV_2D_MSGS_POSE2DSTAMPED_H

src/APIs/c_api/include/nav_2d_msgs/SwitchPlugin.h

@@ -0,0 +1,23 @@
+#ifndef C_API_NAV_2D_MSGS_SWITCHPLUGIN_H
+#define C_API_NAV_2D_MSGS_SWITCHPLUGIN_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "nav_2d_msgs/SwitchPluginRequest.h"
+#include "nav_2d_msgs/SwitchPluginResponse.h"
+
+typedef struct
+{
+  SwitchPluginRequest request;
+  SwitchPluginResponse response;
+} SwitchPlugin;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_NAV_2D_MSGS_SWITCHPLUGIN_H

src/APIs/c_api/include/nav_2d_msgs/SwitchPluginRequest.h

@@ -0,0 +1,20 @@
+#ifndef C_API_NAV_2D_MSGS_SWITCHPLUGINREQUEST_H
+#define C_API_NAV_2D_MSGS_SWITCHPLUGINREQUEST_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+
+typedef struct
+{
+  char *new_plugin;
+} SwitchPluginRequest;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_NAV_2D_MSGS_SWITCHPLUGINREQUEST_H

src/APIs/c_api/include/nav_2d_msgs/SwitchPluginResponse.h

@@ -0,0 +1,21 @@
+#ifndef C_API_NAV_2D_MSGS_SWITCHPLUGINRESPONSE_H
+#define C_API_NAV_2D_MSGS_SWITCHPLUGINRESPONSE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+
+typedef struct
+{
+  uint8_t success;
+  char *message;
+} SwitchPluginResponse;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_NAV_2D_MSGS_SWITCHPLUGINRESPONSE_H

src/APIs/c_api/include/nav_2d_msgs/Twist2D.h

@@ -0,0 +1,22 @@
+#ifndef C_API_NAV_2D_MSGS_TWIST2D_H
+#define C_API_NAV_2D_MSGS_TWIST2D_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+
+typedef struct
+{
+  double x;
+  double y;
+  double theta;
+} Twist2D;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_NAV_2D_MSGS_TWIST2D_H

src/APIs/c_api/include/nav_2d_msgs/Twist2D32.h

@@ -0,0 +1,22 @@
+#ifndef C_API_NAV_2D_MSGS_TWIST2D32_H
+#define C_API_NAV_2D_MSGS_TWIST2D32_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+
+typedef struct
+{
+  float x;
+  float y;
+  float theta;
+} Twist2D32;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_NAV_2D_MSGS_TWIST2D32_H

src/APIs/c_api/include/nav_2d_msgs/Twist2DStamped.h

@@ -0,0 +1,23 @@
+#ifndef C_API_NAV_2D_MSGS_TWIST2DSTAMPED_H
+#define C_API_NAV_2D_MSGS_TWIST2DSTAMPED_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "nav_2d_msgs/Twist2D.h"
+
+typedef struct
+{
+  Header header;
+  Twist2D velocity;
+} Twist2DStamped;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_NAV_2D_MSGS_TWIST2DSTAMPED_H

src/APIs/c_api/include/nav_2d_msgs/UIntBounds.h

@@ -0,0 +1,23 @@
+#ifndef C_API_NAV_2D_MSGS_UINTBOUNDS_H
+#define C_API_NAV_2D_MSGS_UINTBOUNDS_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+
+typedef struct
+{
+  uint32_t min_x;
+  uint32_t min_y;
+  uint32_t max_x;
+  uint32_t max_y;
+} UIntBounds;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_NAV_2D_MSGS_UINTBOUNDS_H

src/APIs/c_api/include/nav_c_api.h

@@ -6,154 +6,58 @@ extern "C"
 {
 #endif
 
-#include <stdbool.h>
-#include <stdint.h>
-#include <stddef.h>
+  #include <stdbool.h>
+  #include <stdint.h>
+  #include <stddef.h>
+  /* C struct types only - do not include convertor.h here (it pulls C++ code into extern "C") */
+  #include "std_msgs/Header.h"
+  #include "geometry_msgs/Point.h"
+  #include "geometry_msgs/Pose2D.h"
+  #include "geometry_msgs/PoseStamped.h"
+  #include "nav_msgs/OccupancyGrid.h"
+  #include "nav_msgs/Odometry.h"
+  #include "map_msgs/OccupancyGridUpdate.h"
+  #include "nav_2d_msgs/Twist2D.h"
+  #include "nav_2d_msgs/Twist2DStamped.h"
+  #include "nav_2d_msgs/Path2D.h"
+  #include "sensor_msgs/LaserScan.h"
+  #include "sensor_msgs/PointCloud.h"
+  #include "sensor_msgs/PointCloud2.h"
+  #include "geometry_msgs/PolygonStamped.h"
 
-  // Forward declarations
-  typedef void *NavigationHandle;
-  typedef void *TFListenerHandle;
-  typedef void *OccupancyGridHandle;
-  typedef void *OccupancyGridUpdateHandle;
-  typedef void *LaserScanHandle;
-  typedef void *PointCloudHandle;
-  typedef void *PointCloud2Handle;
-  typedef void *OdometryHandle;
-  typedef void *Path2DHandle;
-  typedef void *PolygonStampedHandle;
-  typedef void *OrderHandle;
+  typedef struct { char *name; OccupancyGrid grid; } NamedOccupancyGrid;
+  typedef struct { char *name; LaserScan scan; } NamedLaserScan;
+  typedef struct { char *name; PointCloud cloud; } NamedPointCloud;
+  typedef struct { char *name; PointCloud2 cloud; } NamedPointCloud2;
 
-  // ============================================================================
-  // Enums
-  // ============================================================================
-
-  /**
-   * @brief Navigation states, including planning and controller status
-   */
+  typedef struct
+  {
+    void *ptr;
+  } NavigationHandle;
+  
+  typedef struct
+  {
+    void *ptr;
+  } TFListenerHandle;
+  
   typedef enum
   {
-    NAV_STATE_PENDING = 0,
-    NAV_STATE_ACTIVE = 1,
-    NAV_STATE_PREEMPTED = 2,
-    NAV_STATE_SUCCEEDED = 3,
-    NAV_STATE_ABORTED = 4,
-    NAV_STATE_REJECTED = 5,
-    NAV_STATE_PREEMPTING = 6,
-    NAV_STATE_RECALLING = 7,
-    NAV_STATE_RECALLED = 8,
-    NAV_STATE_LOST = 9,
-    NAV_STATE_PLANNING = 10,
-    NAV_STATE_CONTROLLING = 11,
-    NAV_STATE_CLEARING = 12,
-    NAV_STATE_PAUSED = 13
+    PENDING = 0,
+    ACTIVE = 1,
+    PREEMPTED = 2,
+    SUCCEEDED = 3,
+    ABORTED = 4,
+    REJECTED = 5,
+    PREEMPTING = 6,
+    RECALLING = 7,
+    RECALLED = 8,
+    LOST = 9,
+    PLANNING = 10,
+    CONTROLLING = 11,
+    CLEARING = 12,
+    PAUSED = 13
   } NavigationState;
-
-  // ============================================================================
-  // Structures
-  // ============================================================================
-
-  /**
-   * @brief Point structure (x, y, z)
-   */
-  typedef struct
-  {
-    double x;
-    double y;
-    double z;
-  } Point;
-
-  /**
-   * @brief Pose2D structure (x, y, theta)
-   */
-  typedef struct
-  {
-    double x;
-    double y;
-    double theta;
-  } Pose2D;
-
-  /**
-   * @brief Twist2D structure (x, y, theta velocities)
-   */
-  typedef struct
-  {
-    double x;
-    double y;
-    double theta;
-  } Twist2D;
-
-  /**
-   * @brief Quaternion structure
-   */
-  typedef struct
-  {
-    double x;
-    double y;
-    double z;
-    double w;
-  } Quaternion;
-
-  /**
-   * @brief Position structure
-   */
-  typedef struct
-  {
-    double x;
-    double y;
-    double z;
-  } Position;
-
-  /**
-   * @brief Pose structure
-   */
-  typedef struct
-  {
-    Position position;
-    Quaternion orientation;
-  } Pose;
-
-  /**
-   * @brief Header structure
-   */
-  typedef struct
-  {
-    uint32_t seq;
-    int64_t sec;
-    uint32_t nsec;
-    char *frame_id;
-  } Header;
-
-  /**
-   * @brief PoseStamped structure
-   */
-  typedef struct
-  {
-    Header header;
-    Pose pose;
-  } PoseStamped;
-
-  /**
-   * @brief Twist2DStamped structure
-   */
-  typedef struct
-  {
-    Header header;
-    Twist2D velocity;
-  } Twist2DStamped;
-
-  /**
-   * @brief Vector3 structure
-   */
-  typedef struct
-  {
-    double x;
-    double y;
-    double z;
-  } Vector3;
-
-  /**
-   * @brief Navigation feedback structure
-   */
+  
   typedef struct
   {
     NavigationState navigation_state;
@@ -164,201 +68,24 @@ extern "C"
   } NavFeedback;
 
   /**
-   * @brief Named OccupancyGrid structure
-   * @note map is an opaque handle to a C++ robot_nav_msgs::OccupancyGrid
+   * @brief Planner data output structure (C version).
+   * Mirrors robot::move_base_core::PlannerDataOutput in `move_base_core/navigation.h`.
    */
   typedef struct
   {
-    char *name;
-    OccupancyGridHandle map;
-  } NamedOccupancyGrid;
-
-  /**
-   * @brief Named LaserScan structure
-   * @note scan is an opaque handle to a C++ robot_sensor_msgs::LaserScan
-   */
-  typedef struct
-  {
-    char *name;
-    LaserScanHandle scan;
-  } NamedLaserScan;
-
-  /**
-   * @brief Named PointCloud structure
-   * @note cloud is an opaque handle to a C++ robot_sensor_msgs::PointCloud
-   */
-  typedef struct
-  {
-    char *name;
-    PointCloudHandle cloud;
-  } NamedPointCloud;
-
-  /**
-   * @brief Named PointCloud2 structure
-   * @note cloud is an opaque handle to a C++ robot_sensor_msgs::PointCloud2
-   */
-  typedef struct
-  {
-    char *name;
-    PointCloud2Handle cloud;
-  } NamedPointCloud2;
-
-  /**
-   * @brief Planner data output structure (opaque message handles)
-   */
-  typedef struct
-  {
-    Path2DHandle plan;
-    OccupancyGridHandle costmap;
-    OccupancyGridUpdateHandle costmap_update;
+    Path2D plan;
+    OccupancyGrid costmap;
+    OccupancyGridUpdate costmap_update;
     bool is_costmap_updated;
-    PolygonStampedHandle footprint;
+    PolygonStamped footprint;
   } PlannerDataOutput;
 
-  // ============================================================================
-  // String Management
-  // ============================================================================
-
   /**
-   * @brief Free a string allocated by the library
-   * @param str String to free
+   * @brief Free a string allocated by the API (e.g. feed_back_str, navigation_state_to_string result).
+   * @param str Pointer from strdup; no-op if NULL.
    */
   void nav_c_api_free_string(char *str);
 
-  // ============================================================================
-  // Complex Message Handle Management
-  // ============================================================================
-
-  /**
-   * @brief Free an occupancy grid handle
-   * @param handle Occupancy grid handle to free
-   */
-  void navigation_free_occupancy_grid(OccupancyGridHandle handle);
-  /**
-   * @brief Free an occupancy grid update handle
-   * @param handle Occupancy grid update handle to free
-   */
-  void navigation_free_occupancy_grid_update(OccupancyGridUpdateHandle handle);
-
-  /**
-   * @brief Free a laser scan handle
-   * @param handle Laser scan handle to free
-   */
-  void navigation_free_laser_scan(LaserScanHandle handle);
-
-  /**
-   * @brief Free a point cloud handle
-   * @param handle Point cloud handle to free
-   */
-  void navigation_free_point_cloud(PointCloudHandle handle);
-
-  /**
-   * @brief Free a point cloud2 handle
-   * @param handle Point cloud2 handle to free
-   */
-  void navigation_free_point_cloud2(PointCloud2Handle handle);
-
-  /**
-   * @brief Free an odometry handle
-   * @param handle Odometry handle to free
-   */
-  void navigation_free_odometry(OdometryHandle handle);
-
-  /**
-   * @brief Free a path2d handle
-   * @param handle Path2d handle to free
-   */
-  void navigation_free_path2d(Path2DHandle handle);
-
-  /**
-   * @brief Free a polygon stamped handle
-   * @param handle Polygon stamped handle to free
-   */
-  void navigation_free_polygon_stamped(PolygonStampedHandle handle);
-
-  /**
-   * @brief Free an order handle
-   * @param handle Order handle to free
-   */
-  void navigation_free_order(OrderHandle handle);
-
-  /**
-   * @brief Free an array of named occupancy grids
-   * @param maps Array of named occupancy grids to free
-   * @param count Number of named occupancy grids in the array
-   */
-  void navigation_free_named_occupancy_grids(NamedOccupancyGrid *maps, size_t count);
-
-  /**
-   * @brief Free an array of named laser scans
-   * @param scans Array of named laser scans to free
-   * @param count Number of named laser scans in the array
-   */
-  void navigation_free_named_laser_scans(NamedLaserScan *scans, size_t count);
-
-  /**
-   * @brief Free an array of named point clouds
-   * @param clouds Array of named point clouds to free
-   * @param count Number of named point clouds in the array
-   */
-  void navigation_free_named_point_clouds(NamedPointCloud *clouds, size_t count);
-
-  /**
-   * @brief Free an array of named point cloud2s
-   * @param clouds Array of named point cloud2s to free
-   * @param count Number of named point cloud2s in the array
-   */
-  void navigation_free_named_point_cloud2s(NamedPointCloud2 *clouds, size_t count);
-
-  /**
-   * @brief Free a planner data output
-   * @param data Planner data output to free
-   */
-  void navigation_free_planner_data(PlannerDataOutput *data);
-
-  // ============================================================================
-  // State Conversion
-  // ============================================================================
-
-  /**
-   * @brief Convert a State enum to its string representation
-   * @param state Enum value of NavigationState
-   * @return String representation (caller must free with nav_c_api_free_string)
-   */
-  char *navigation_state_to_string(NavigationState state);
-
-  // ============================================================================
-  // Helper Functions
-  // ============================================================================
-
-  /**
-   * @brief Creates a target pose by offsetting a given 2D pose along its heading direction
-   * @param pose_x X coordinate of the original pose
-   * @param pose_y Y coordinate of the original pose
-   * @param pose_theta Heading angle in radians
-   * @param frame_id The coordinate frame ID (null-terminated string)
-   * @param offset_distance Distance to offset along heading (positive = forward, negative = backward)
-   * @param out_goal Output parameter for the offset pose
-   * @return true on success, false on failure
-   */
-  bool navigation_offset_goal_2d(double pose_x, double pose_y, double pose_theta,
-                                 const char *frame_id, double offset_distance,
-                                 PoseStamped *out_goal);
-
-  /**
-   * @brief Creates an offset target pose from a given PoseStamped
-   * @param in_pose Input pose
-   * @param offset_distance Distance to offset along heading direction
-   * @param out_goal Output parameter for the offset pose
-   * @return true on success, false on failure
-   */
-  bool navigation_offset_goal_stamped(const PoseStamped *in_pose, double offset_distance,
-                                      PoseStamped *out_goal);
-
-  // ============================================================================
-  // Navigation Handle Management
-  // ============================================================================
-
   /**
    * @brief Create a new navigation instance
    * @return Navigation handle, or NULL on failure
@@ -371,10 +98,6 @@ extern "C"
    */
   void navigation_destroy(NavigationHandle handle);
 
-  // ============================================================================
-  // TF Listener Management
-  // ============================================================================
-
   /**
    * @brief Create a TF listener instance
    * @return TF listener handle, or NULL on failure
@@ -439,13 +162,8 @@ extern "C"
    * @param out_count Output number of points in the array
    * @return true on success, false on failure
    */
-  bool navigation_get_robot_footprint(NavigationHandle handle, Point **out_points, size_t *out_count);
+  bool navigation_get_robot_footprint(NavigationHandle handle, Point *out_points, size_t &out_count);
 
-  /**
-   * @brief Free a points array allocated by navigation_get_robot_footprint
-   * @param points Pointer to point array
-   */
-  void navigation_free_points(Point *points);
 
   /**
    * @brief Send a goal for the robot to navigate to
@@ -455,21 +173,21 @@ extern "C"
    * @param yaw_goal_tolerance Acceptable angular error (radians)
    * @return true if goal was accepted and sent successfully
    */
-  bool navigation_move_to(NavigationHandle handle, const PoseStamped *goal,
+  bool navigation_move_to(NavigationHandle handle, const PoseStamped goal,
                           double xy_goal_tolerance, double yaw_goal_tolerance);
 
-  /**
-   * @brief Send a goal for the robot to navigate to
-   * @param handle Navigation handle
-   * @param order Order message
-   * @param goal Target pose in the global frame
-   * @param xy_goal_tolerance Acceptable error in X/Y (meters)
-   * @param yaw_goal_tolerance Acceptable angular error (radians)
-   * @return true if goal was accepted and sent successfully
-   */
-  bool navigation_move_to_order(NavigationHandle handle, const OrderHandle order,
-                                const PoseStamped *goal,
-                                double xy_goal_tolerance, double yaw_goal_tolerance);
+  // /**
+  //  * @brief Send a goal for the robot to navigate to
+  //  * @param handle Navigation handle
+  //  * @param order Order message
+  //  * @param goal Target pose in the global frame
+  //  * @param xy_goal_tolerance Acceptable error in X/Y (meters)
+  //  * @param yaw_goal_tolerance Acceptable angular error (radians)
+  //  * @return true if goal was accepted and sent successfully
+  //  */
+  // bool navigation_move_to_order(NavigationHandle handle, const OrderHandle order,
+  //                               const PoseStamped &goal,
+  //                               double xy_goal_tolerance, double yaw_goal_tolerance);
 
   /**
    * @brief Send a docking goal to a predefined marker
@@ -481,21 +199,21 @@ extern "C"
    * @return true if docking command succeeded
    */
   bool navigation_dock_to(NavigationHandle handle, const char *marker,
-                          const PoseStamped *goal,
+                          const PoseStamped goal,
                           double xy_goal_tolerance, double yaw_goal_tolerance);
 
-  /**
-   * @brief Send a docking goal to a predefined marker
-   * @param handle Navigation handle
-   * @param order Order message
-   * @param goal Target pose for docking
-   * @param xy_goal_tolerance Acceptable XY error (meters)
-   * @param yaw_goal_tolerance Acceptable heading error (radians)
-   * @return true if docking command succeeded
-   */
-  bool navigation_dock_to_order(NavigationHandle handle, const OrderHandle order,
-                                const PoseStamped *goal,
-                                double xy_goal_tolerance, double yaw_goal_tolerance);
+  // /**
+  //  * @brief Send a docking goal to a predefined marker
+  //  * @param handle Navigation handle
+  //  * @param order Order message
+  //  * @param goal Target pose for docking
+  //  * @param xy_goal_tolerance Acceptable XY error (meters)
+  //  * @param yaw_goal_tolerance Acceptable heading error (radians)
+  //  * @return true if docking command succeeded
+  //  */
+  // bool navigation_dock_to_order(NavigationHandle handle, const OrderHandle order,
+  //                               const PoseStamped &goal,
+  //                               double xy_goal_tolerance, double yaw_goal_tolerance);
 
   /**
    * @brief Move straight toward the target position
@@ -504,7 +222,7 @@ extern "C"
    * @param xy_goal_tolerance Acceptable positional error (meters)
    * @return true if command issued successfully
    */
-  bool navigation_move_straight_to(NavigationHandle handle, const PoseStamped *goal,
+  bool navigation_move_straight_to(NavigationHandle handle, const PoseStamped goal,
                                    double xy_goal_tolerance);
 
   /**
@@ -514,7 +232,7 @@ extern "C"
    * @param yaw_goal_tolerance Acceptable angular error (radians)
    * @return true if rotation command was sent successfully
    */
-  bool navigation_rotate_to(NavigationHandle handle, const PoseStamped *goal,
+  bool navigation_rotate_to(NavigationHandle handle, const PoseStamped goal,
                             double yaw_goal_tolerance);
 
   /**
@@ -563,7 +281,7 @@ extern "C"
    * @param out_pose Output parameter with the robot's current pose
    * @return true if pose was successfully retrieved
    */
-  bool navigation_get_robot_pose_stamped(NavigationHandle handle, PoseStamped *out_pose);
+  bool navigation_get_robot_pose_stamped(NavigationHandle handle, PoseStamped &out_pose);
 
   /**
    * @brief Get the robot's pose as a 2D pose
@@ -571,7 +289,7 @@ extern "C"
    * @param out_pose Output parameter with the robot's current 2D pose
    * @return true if pose was successfully retrieved
    */
-  bool navigation_get_robot_pose_2d(NavigationHandle handle, Pose2D *out_pose);
+  bool navigation_get_robot_pose_2d(NavigationHandle handle, Pose2D &out_pose);
 
   /**
    * @brief Get the robot's current twist
@@ -580,7 +298,7 @@ extern "C"
    * @return true if twist was successfully retrieved
    * @note out_twist->header.frame_id must be freed using nav_c_api_free_string
    */
-  bool navigation_get_twist(NavigationHandle handle, Twist2DStamped *out_twist);
+  bool navigation_get_twist(NavigationHandle handle, Twist2DStamped &out_twist);
 
   /**
    * @brief Get navigation feedback
@@ -589,13 +307,7 @@ extern "C"
    * @return true if feedback was successfully retrieved
    * @note The feed_back_str field must be freed using nav_c_api_free_string
    */
-  bool navigation_get_feedback(NavigationHandle handle, NavFeedback *out_feedback);
-
-  /**
-   * @brief Free navigation feedback structure
-   * @param feedback Feedback structure to free
-   */
-  void navigation_free_feedback(NavFeedback *feedback);
+  bool navigation_get_feedback(NavigationHandle handle, NavFeedback &out_feedback);
 
   /**
    * @brief Add a static map to the navigation system
@@ -604,7 +316,7 @@ extern "C"
    * @param map Occupancy grid handle
    * @return true if the map was added successfully
    */
-  bool navigation_add_static_map(NavigationHandle handle, const char *map_name, OccupancyGridHandle map);
+  bool navigation_add_static_map(NavigationHandle handle, const char *map_name, const OccupancyGrid occupancy_grid);
 
   /**
    * @brief Add a laser scan to the navigation system
@@ -613,7 +325,7 @@ extern "C"
    * @param laser_scan Laser scan handle
    * @return true if the laser scan was added successfully
    */
-  bool navigation_add_laser_scan(NavigationHandle handle, const char *laser_scan_name, LaserScanHandle laser_scan);
+  bool navigation_add_laser_scan(NavigationHandle handle, const char *laser_scan_name, const LaserScan laser_scan);
 
   /**
    * @brief Add a point cloud to the navigation system
@@ -622,7 +334,7 @@ extern "C"
    * @param point_cloud Point cloud handle
    * @return true if the point cloud was added successfully
    */
-  bool navigation_add_point_cloud(NavigationHandle handle, const char *point_cloud_name, PointCloudHandle point_cloud);
+  bool navigation_add_point_cloud(NavigationHandle handle, const char *point_cloud_name, const PointCloud point_cloud);
 
   /**
    * @brief Add a point cloud2 to the navigation system
@@ -631,7 +343,7 @@ extern "C"
    * @param point_cloud2 Point cloud2 handle
    * @return true if the point cloud2 was added successfully
    */
-  bool navigation_add_point_cloud2(NavigationHandle handle, const char *point_cloud2_name, PointCloud2Handle point_cloud2);
+  bool navigation_add_point_cloud2(NavigationHandle handle, const char *point_cloud2_name, const PointCloud2 point_cloud2);
 
   /**
    * @brief Add an odometry to the navigation system
@@ -640,7 +352,7 @@ extern "C"
    * @param odometry Odometry handle
    * @return true if the odometry was added successfully
    */
-  bool navigation_add_odometry(NavigationHandle handle, const char *odometry_name, OdometryHandle odometry);
+  bool navigation_add_odometry(NavigationHandle handle, const char *odometry_name, const Odometry odometry);
 
   /**
    * @brief Get a static map from the navigation system
@@ -649,7 +361,7 @@ extern "C"
    * @param out_map Output parameter for the map handle
    * @return true if the map was retrieved successfully
    */
-  bool navigation_get_static_map(NavigationHandle handle, const char *map_name, OccupancyGridHandle *out_map);
+  bool navigation_get_static_map(NavigationHandle handle, const char *map_name, OccupancyGrid &out_map);
 
   /**
    * @brief Get a laser scan from the navigation system
@@ -658,7 +370,7 @@ extern "C"
    * @param out_scan Output parameter for the laser scan handle
    * @return true if the laser scan was retrieved successfully
    */
-  bool navigation_get_laser_scan(NavigationHandle handle, const char *laser_scan_name, LaserScanHandle *out_scan);
+  bool navigation_get_laser_scan(NavigationHandle handle, const char *laser_scan_name, LaserScan &out_scan);
 
   /**
    * @brief Get a point cloud from the navigation system
@@ -667,7 +379,7 @@ extern "C"
    * @param out_cloud Output parameter for the point cloud handle
    * @return true if the point cloud was retrieved successfully
    */
-  bool navigation_get_point_cloud(NavigationHandle handle, const char *point_cloud_name, PointCloudHandle *out_cloud);
+  bool navigation_get_point_cloud(NavigationHandle handle, const char *point_cloud_name, PointCloud &out_cloud);
 
   /**
    * @brief Get a point cloud2 from the navigation system
@@ -676,7 +388,7 @@ extern "C"
    * @param out_cloud Output parameter for the point cloud2 handle
    * @return true if the point cloud2 was retrieved successfully
    */
-  bool navigation_get_point_cloud2(NavigationHandle handle, const char *point_cloud2_name, PointCloud2Handle *out_cloud);
+  bool navigation_get_point_cloud2(NavigationHandle handle, const char *point_cloud2_name, PointCloud2 &out_cloud);
 
   /**
    * @brief Get all static maps from the navigation system
@@ -685,7 +397,7 @@ extern "C"
    * @param out_count Output parameter for the number of maps
    * @return true if the maps were retrieved successfully
    */
-  bool navigation_get_all_static_maps(NavigationHandle handle, NamedOccupancyGrid **out_maps, size_t *out_count);
+  bool navigation_get_all_static_maps(NavigationHandle handle, NamedOccupancyGrid *out_maps, size_t &out_count);
 
   /**
    * @brief Get all laser scans from the navigation system
@@ -694,7 +406,7 @@ extern "C"
    * @param out_count Output parameter for the number of scans
    * @return true if the scans were retrieved successfully
    */
-  bool navigation_get_all_laser_scans(NavigationHandle handle, NamedLaserScan **out_scans, size_t *out_count);
+  bool navigation_get_all_laser_scans(NavigationHandle handle, NamedLaserScan *out_scans, size_t &out_count);
 
   /**
    * @brief Get all point clouds from the navigation system
@@ -703,7 +415,7 @@ extern "C"
    * @param out_count Output parameter for the number of clouds
    * @return true if the clouds were retrieved successfully
    */
-  bool navigation_get_all_point_clouds(NavigationHandle handle, NamedPointCloud **out_clouds, size_t *out_count);
+  bool navigation_get_all_point_clouds(NavigationHandle handle, NamedPointCloud *out_clouds, size_t &out_count);
 
   /**
    * @brief Get all point cloud2s from the navigation system
@@ -712,7 +424,7 @@ extern "C"
    * @param out_count Output parameter for the number of clouds
    * @return true if the clouds were retrieved successfully
    */
-  bool navigation_get_all_point_cloud2s(NavigationHandle handle, NamedPointCloud2 **out_clouds, size_t *out_count);
+  bool navigation_get_all_point_cloud2s(NavigationHandle handle, NamedPointCloud2 *out_clouds, size_t &out_count);
 
   /**
    * @brief Remove a static map from the navigation system

src/APIs/c_api/include/nav_msgs/ActionTypes.h

@@ -0,0 +1,29 @@
+ #ifndef C_API_NAV_MSGS_ACTIONTYPES_H
+ #define C_API_NAV_MSGS_ACTIONTYPES_H
+ 
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+ 
+ #include <stdint.h>
+ #include <stddef.h>
+ #include "std_msgs/Time.h"
+ 
+ typedef struct
+ {
+   Time stamp;
+   char *id;
+ } GoalID;
+ 
+ typedef struct
+ {
+   GoalID goal_id;
+   uint8_t status;
+   char *text;
+ } GoalStatus;
+ 
+ #ifdef __cplusplus
+ }
+ #endif
+ 
+ #endif // C_API_NAV_MSGS_ACTIONTYPES_H

src/APIs/c_api/include/nav_msgs/GetMap.h

@@ -0,0 +1,23 @@
+ #ifndef C_API_NAV_MSGS_GETMAP_H
+ #define C_API_NAV_MSGS_GETMAP_H
+ 
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+ 
+#include <stdint.h>
+#include <stddef.h>
+#include "nav_msgs/GetMapRequest.h"
+#include "nav_msgs/GetMapResponse.h"
+
+typedef struct
+{
+  GetMapRequest request;
+  GetMapResponse response;
+} GetMap;
+ 
+ #ifdef __cplusplus
+ }
+ #endif
+ 
+ #endif // C_API_NAV_MSGS_GETMAP_H

src/APIs/c_api/include/nav_msgs/GetMapAction.h

@@ -0,0 +1,25 @@
+ #ifndef C_API_NAV_MSGS_GETMAPACTION_H
+ #define C_API_NAV_MSGS_GETMAPACTION_H
+ 
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+ 
+#include <stdint.h>
+#include <stddef.h>
+#include "nav_msgs/GetMapActionGoal.h"
+#include "nav_msgs/GetMapActionResult.h"
+#include "nav_msgs/GetMapActionFeedback.h"
+
+typedef struct
+{
+  GetMapActionGoal action_goal;
+  GetMapActionResult action_result;
+  GetMapActionFeedback action_feedback;
+} GetMapAction;
+ 
+ #ifdef __cplusplus
+ }
+ #endif
+ 
+ #endif // C_API_NAV_MSGS_GETMAPACTION_H

src/APIs/c_api/include/nav_msgs/GetMapActionFeedback.h

@@ -0,0 +1,25 @@
+ #ifndef C_API_NAV_MSGS_GETMAPACTIONFEEDBACK_H
+ #define C_API_NAV_MSGS_GETMAPACTIONFEEDBACK_H
+ 
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+ 
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "nav_msgs/ActionTypes.h"
+#include "nav_msgs/GetMapFeedback.h"
+
+typedef struct
+{
+  Header header;
+  GoalStatus status;
+  GetMapFeedback feedback;
+} GetMapActionFeedback;
+ 
+ #ifdef __cplusplus
+ }
+ #endif
+ 
+ #endif // C_API_NAV_MSGS_GETMAPACTIONFEEDBACK_H

src/APIs/c_api/include/nav_msgs/GetMapActionGoal.h

@@ -0,0 +1,25 @@
+ #ifndef C_API_NAV_MSGS_GETMAPACTIONGOAL_H
+ #define C_API_NAV_MSGS_GETMAPACTIONGOAL_H
+ 
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+ 
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "nav_msgs/ActionTypes.h"
+#include "nav_msgs/GetMapGoal.h"
+
+typedef struct
+{
+  Header header;
+  GoalID goal_id;
+  GetMapGoal goal;
+} GetMapActionGoal;
+ 
+ #ifdef __cplusplus
+ }
+ #endif
+ 
+ #endif // C_API_NAV_MSGS_GETMAPACTIONGOAL_H

src/APIs/c_api/include/nav_msgs/GetMapActionResult.h

@@ -0,0 +1,25 @@
+ #ifndef C_API_NAV_MSGS_GETMAPACTIONRESULT_H
+ #define C_API_NAV_MSGS_GETMAPACTIONRESULT_H
+ 
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+ 
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "nav_msgs/ActionTypes.h"
+#include "nav_msgs/GetMapResult.h"
+
+typedef struct
+{
+  Header header;
+  GoalStatus status;
+  GetMapResult result;
+} GetMapActionResult;
+ 
+ #ifdef __cplusplus
+ }
+ #endif
+ 
+ #endif // C_API_NAV_MSGS_GETMAPACTIONRESULT_H

src/APIs/c_api/include/nav_msgs/GetMapFeedback.h

@@ -0,0 +1,20 @@
+ #ifndef C_API_NAV_MSGS_GETMAPFEEDBACK_H
+ #define C_API_NAV_MSGS_GETMAPFEEDBACK_H
+ 
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+ 
+#include <stdint.h>
+#include <stddef.h>
+
+typedef struct
+{
+  uint8_t _dummy;
+} GetMapFeedback;
+ 
+ #ifdef __cplusplus
+ }
+ #endif
+ 
+ #endif // C_API_NAV_MSGS_GETMAPFEEDBACK_H

src/APIs/c_api/include/nav_msgs/GetMapGoal.h

@@ -0,0 +1,20 @@
+ #ifndef C_API_NAV_MSGS_GETMAPGOAL_H
+ #define C_API_NAV_MSGS_GETMAPGOAL_H
+ 
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+ 
+#include <stdint.h>
+#include <stddef.h>
+
+typedef struct
+{
+  uint8_t _dummy;
+} GetMapGoal;
+ 
+ #ifdef __cplusplus
+ }
+ #endif
+ 
+ #endif // C_API_NAV_MSGS_GETMAPGOAL_H

src/APIs/c_api/include/nav_msgs/GetMapRequest.h

@@ -0,0 +1,20 @@
+ #ifndef C_API_NAV_MSGS_GETMAPREQUEST_H
+ #define C_API_NAV_MSGS_GETMAPREQUEST_H
+ 
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+ 
+#include <stdint.h>
+#include <stddef.h>
+
+typedef struct
+{
+  uint8_t _dummy;
+} GetMapRequest;
+ 
+ #ifdef __cplusplus
+ }
+ #endif
+ 
+ #endif // C_API_NAV_MSGS_GETMAPREQUEST_H

src/APIs/c_api/include/nav_msgs/GetMapResponse.h

@@ -0,0 +1,21 @@
+ #ifndef C_API_NAV_MSGS_GETMAPRESPONSE_H
+ #define C_API_NAV_MSGS_GETMAPRESPONSE_H
+ 
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+ 
+#include <stdint.h>
+#include <stddef.h>
+#include "nav_msgs/OccupancyGrid.h"
+
+typedef struct
+{
+  OccupancyGrid map;
+} GetMapResponse;
+ 
+ #ifdef __cplusplus
+ }
+ #endif
+ 
+ #endif // C_API_NAV_MSGS_GETMAPRESPONSE_H

src/APIs/c_api/include/nav_msgs/GetMapResult.h

@@ -0,0 +1,21 @@
+ #ifndef C_API_NAV_MSGS_GETMAPRESULT_H
+ #define C_API_NAV_MSGS_GETMAPRESULT_H
+ 
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+ 
+#include <stdint.h>
+#include <stddef.h>
+#include "nav_msgs/OccupancyGrid.h"
+
+typedef struct
+{
+  OccupancyGrid map;
+} GetMapResult;
+ 
+ #ifdef __cplusplus
+ }
+ #endif
+ 
+ #endif // C_API_NAV_MSGS_GETMAPRESULT_H

src/APIs/c_api/include/nav_msgs/GetPlan.h

@@ -0,0 +1,23 @@
+ #ifndef C_API_NAV_MSGS_GETPLAN_H
+ #define C_API_NAV_MSGS_GETPLAN_H
+ 
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+ 
+#include <stdint.h>
+#include <stddef.h>
+#include "nav_msgs/GetPlanRequest.h"
+#include "nav_msgs/GetPlanResponse.h"
+
+typedef struct
+{
+  GetPlanRequest request;
+  GetPlanResponse response;
+} GetPlan;
+ 
+ #ifdef __cplusplus
+ }
+ #endif
+ 
+ #endif // C_API_NAV_MSGS_GETPLAN_H

src/APIs/c_api/include/nav_msgs/GetPlanRequest.h

@@ -0,0 +1,23 @@
+ #ifndef C_API_NAV_MSGS_GETPLANREQUEST_H
+ #define C_API_NAV_MSGS_GETPLANREQUEST_H
+ 
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+ 
+#include <stdint.h>
+#include <stddef.h>
+#include "geometry_msgs/PoseStamped.h"
+
+typedef struct
+{
+  PoseStamped start;
+  PoseStamped goal;
+  float tolerance;
+} GetPlanRequest;
+ 
+ #ifdef __cplusplus
+ }
+ #endif
+ 
+ #endif // C_API_NAV_MSGS_GETPLANREQUEST_H

src/APIs/c_api/include/nav_msgs/GetPlanResponse.h

@@ -0,0 +1,21 @@
+ #ifndef C_API_NAV_MSGS_GETPLANRESPONSE_H
+ #define C_API_NAV_MSGS_GETPLANRESPONSE_H
+ 
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+ 
+#include <stdint.h>
+#include <stddef.h>
+#include "nav_msgs/Path.h"
+
+typedef struct
+{
+  Path plan;
+} GetPlanResponse;
+ 
+ #ifdef __cplusplus
+ }
+ #endif
+ 
+ #endif // C_API_NAV_MSGS_GETPLANRESPONSE_H

src/APIs/c_api/include/nav_msgs/GridCells.h

@@ -0,0 +1,26 @@
+ #ifndef C_API_NAV_MSGS_GRIDCELLS_H
+ #define C_API_NAV_MSGS_GRIDCELLS_H
+ 
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+ 
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Point.h"
+
+typedef struct
+{
+  Header header;
+  float cell_width;
+  float cell_height;
+  Point *cells;
+  size_t cells_count;
+} GridCells;
+ 
+ #ifdef __cplusplus
+ }
+ #endif
+ 
+ #endif // C_API_NAV_MSGS_GRIDCELLS_H

src/APIs/c_api/include/nav_msgs/LoadMap.h

@@ -0,0 +1,23 @@
+ #ifndef C_API_NAV_MSGS_LOADMAP_H
+ #define C_API_NAV_MSGS_LOADMAP_H
+ 
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+ 
+#include <stdint.h>
+#include <stddef.h>
+#include "nav_msgs/LoadMapRequest.h"
+#include "nav_msgs/LoadMapResponse.h"
+
+typedef struct
+{
+  LoadMapRequest request;
+  LoadMapResponse response;
+} LoadMap;
+ 
+ #ifdef __cplusplus
+ }
+ #endif
+ 
+ #endif // C_API_NAV_MSGS_LOADMAP_H

src/APIs/c_api/include/nav_msgs/LoadMapRequest.h

@@ -0,0 +1,20 @@
+ #ifndef C_API_NAV_MSGS_LOADMAPREQUEST_H
+ #define C_API_NAV_MSGS_LOADMAPREQUEST_H
+ 
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+ 
+#include <stdint.h>
+#include <stddef.h>
+
+typedef struct
+{
+  char *map_url;
+} LoadMapRequest;
+ 
+ #ifdef __cplusplus
+ }
+ #endif
+ 
+ #endif // C_API_NAV_MSGS_LOADMAPREQUEST_H

src/APIs/c_api/include/nav_msgs/LoadMapResponse.h

@@ -0,0 +1,23 @@
+ #ifndef C_API_NAV_MSGS_LOADMAPRESPONSE_H
+ #define C_API_NAV_MSGS_LOADMAPRESPONSE_H
+ 
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+ 
+#include <stdbool.h>
+#include <stdint.h>
+#include <stddef.h>
+#include "nav_msgs/OccupancyGrid.h"
+
+typedef struct
+{
+  OccupancyGrid map;
+  bool result;
+} LoadMapResponse;
+ 
+ #ifdef __cplusplus
+ }
+ #endif
+ 
+ #endif // C_API_NAV_MSGS_LOADMAPRESPONSE_H

src/APIs/c_api/include/nav_msgs/MapMetaData.h

@@ -0,0 +1,26 @@
+ #ifndef C_API_NAV_MSGS_MAPMETADATA_H
+ #define C_API_NAV_MSGS_MAPMETADATA_H
+ 
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+ 
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Time.h"
+#include "geometry_msgs/Pose.h"
+
+typedef struct
+{
+  Time map_load_time;
+  float resolution;
+  uint32_t width;
+  uint32_t height;
+  Pose origin;
+} MapMetaData;
+ 
+ #ifdef __cplusplus
+ }
+ #endif
+ 
+ #endif // C_API_NAV_MSGS_MAPMETADATA_H

src/APIs/c_api/include/nav_msgs/OccupancyGrid.h

@@ -0,0 +1,25 @@
+ #ifndef C_API_NAV_MSGS_OCCUPANCYGRID_H
+ #define C_API_NAV_MSGS_OCCUPANCYGRID_H
+ 
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+ 
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "nav_msgs/MapMetaData.h"
+
+typedef struct
+{
+  Header header;
+  MapMetaData info;
+  int8_t *data;
+  size_t data_count;
+} OccupancyGrid;
+ 
+ #ifdef __cplusplus
+ }
+ #endif
+ 
+ #endif // C_API_NAV_MSGS_OCCUPANCYGRID_H

src/APIs/c_api/include/nav_msgs/Odometry.h

@@ -0,0 +1,35 @@
+ #ifndef C_API_NAV_MSGS_ODOMETRY_H
+ #define C_API_NAV_MSGS_ODOMETRY_H
+ 
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+ 
+ #include <stdint.h>
+ #include <stddef.h>
+ #include "std_msgs/Header.h"
+ #include "geometry_msgs/PoseWithCovariance.h"
+ #include "geometry_msgs/TwistWithCovariance.h"
+ 
+ typedef struct
+ {
+    Header header;
+    char *child_frame_id;
+    PoseWithCovariance pose;
+    TwistWithCovariance twist;
+ } Odometry;
+ 
+
+ extern "C" Odometry odometry_create(void);
+
+ extern "C" Odometry odometry_set_data(
+    Header header,
+    char *child_frame_id,
+    PoseWithCovariance pose,
+    TwistWithCovariance twist);
+
+ #ifdef __cplusplus
+ }
+ #endif
+ 
+ #endif // C_API_NAV_MSGS_ODOMETRY_H

src/APIs/c_api/include/nav_msgs/Path.h

@@ -0,0 +1,24 @@
+ #ifndef C_API_NAV_MSGS_PATH_H
+ #define C_API_NAV_MSGS_PATH_H
+ 
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+ 
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "geometry_msgs/PoseStamped.h"
+
+typedef struct
+{
+  Header header;
+  PoseStamped *poses;
+  size_t poses_count;
+} Path;
+ 
+ #ifdef __cplusplus
+ }
+ #endif
+ 
+ #endif // C_API_NAV_MSGS_PATH_H

src/APIs/c_api/include/nav_msgs/SetMap.h

@@ -0,0 +1,23 @@
+ #ifndef C_API_NAV_MSGS_SETMAP_H
+ #define C_API_NAV_MSGS_SETMAP_H
+ 
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+ 
+#include <stdint.h>
+#include <stddef.h>
+#include "nav_msgs/SetMapRequest.h"
+#include "nav_msgs/SetMapResponse.h"
+
+typedef struct
+{
+  SetMapRequest request;
+  SetMapResponse response;
+} SetMap;
+ 
+ #ifdef __cplusplus
+ }
+ #endif
+ 
+ #endif // C_API_NAV_MSGS_SETMAP_H

src/APIs/c_api/include/nav_msgs/SetMapRequest.h

@@ -0,0 +1,23 @@
+ #ifndef C_API_NAV_MSGS_SETMAPREQUEST_H
+ #define C_API_NAV_MSGS_SETMAPREQUEST_H
+ 
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+ 
+#include <stdint.h>
+#include <stddef.h>
+#include "nav_msgs/OccupancyGrid.h"
+#include "geometry_msgs/PoseWithCovariance.h"
+
+typedef struct
+{
+  OccupancyGrid map;
+  PoseWithCovariance initial_pose;
+} SetMapRequest;
+ 
+ #ifdef __cplusplus
+ }
+ #endif
+ 
+ #endif // C_API_NAV_MSGS_SETMAPREQUEST_H

src/APIs/c_api/include/nav_msgs/SetMapResponse.h

@@ -0,0 +1,21 @@
+ #ifndef C_API_NAV_MSGS_SETMAPRESPONSE_H
+ #define C_API_NAV_MSGS_SETMAPRESPONSE_H
+ 
+ #ifdef __cplusplus
+ extern "C" {
+ #endif
+ 
+#include <stdbool.h>
+#include <stdint.h>
+#include <stddef.h>
+
+typedef struct
+{
+  bool success;
+} SetMapResponse;
+ 
+ #ifdef __cplusplus
+ }
+ #endif
+ 
+ #endif // C_API_NAV_MSGS_SETMAPRESPONSE_H

src/APIs/c_api/include/sensor_msgs/BatteryState.h

@@ -0,0 +1,38 @@
+#ifndef C_API_SENSOR_MSGS_BATTERYSTATE_H
+#define C_API_SENSOR_MSGS_BATTERYSTATE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+
+typedef struct
+{
+  Header header;
+  float voltage;
+  float current;
+  float charge;
+  float capacity;
+  float design_capacity;
+  float percentage;
+  uint8_t power_supply_status;
+  uint8_t power_supply_health;
+  uint8_t power_supply_technology;
+  bool present;
+  float *cell_voltage;
+  size_t cell_voltage_count;
+  float *cell_temperature;
+  size_t cell_temperature_count;
+  char *location;
+  char *serial_number;
+} BatteryState;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_SENSOR_MSGS_BATTERYSTATE_H

src/APIs/c_api/include/sensor_msgs/CameraInfo.h

@@ -0,0 +1,33 @@
+#ifndef C_API_SENSOR_MSGS_CAMERAINFO_H
+#define C_API_SENSOR_MSGS_CAMERAINFO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "sensor_msgs/RegionOfInterest.h"
+
+typedef struct
+{
+  Header header;
+  uint32_t height;
+  uint32_t width;
+  char *distortion_model;
+  double *D;
+  size_t D_count;
+  double K[9];
+  double R[9];
+  double P[12];
+  uint32_t binning_x;
+  uint32_t binning_y;
+  RegionOfInterest roi;
+} CameraInfo;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_SENSOR_MSGS_CAMERAINFO_H

src/APIs/c_api/include/sensor_msgs/ChannelFloat32.h

@@ -0,0 +1,22 @@
+#ifndef C_API_SENSOR_MSGS_CHANNELFLOAT32_H
+#define C_API_SENSOR_MSGS_CHANNELFLOAT32_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+
+typedef struct
+{
+  char *name;
+  float *values;
+  size_t values_count;
+} ChannelFloat32;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_SENSOR_MSGS_CHANNELFLOAT32_H

src/APIs/c_api/include/sensor_msgs/CompressedImage.h

@@ -0,0 +1,24 @@
+#ifndef C_API_SENSOR_MSGS_COMPRESSEDIMAGE_H
+#define C_API_SENSOR_MSGS_COMPRESSEDIMAGE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+
+typedef struct
+{
+  Header header;
+  char *format;
+  uint8_t *data;
+  size_t data_count;
+} CompressedImage;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_SENSOR_MSGS_COMPRESSEDIMAGE_H

src/APIs/c_api/include/sensor_msgs/FluidPressure.h

@@ -0,0 +1,23 @@
+#ifndef C_API_SENSOR_MSGS_FLUIDPRESSURE_H
+#define C_API_SENSOR_MSGS_FLUIDPRESSURE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+
+typedef struct
+{
+  Header header;
+  double fluid_pressure;
+  double variance;
+} FluidPressure;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_SENSOR_MSGS_FLUIDPRESSURE_H

src/APIs/c_api/include/sensor_msgs/Illuminance.h

@@ -0,0 +1,23 @@
+#ifndef C_API_SENSOR_MSGS_ILLUMINANCE_H
+#define C_API_SENSOR_MSGS_ILLUMINANCE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+
+typedef struct
+{
+  Header header;
+  double illuminance;
+  double variance;
+} Illuminance;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_SENSOR_MSGS_ILLUMINANCE_H

src/APIs/c_api/include/sensor_msgs/Image.h

@@ -0,0 +1,28 @@
+#ifndef C_API_SENSOR_MSGS_IMAGE_H
+#define C_API_SENSOR_MSGS_IMAGE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+
+typedef struct
+{
+  Header header;
+  uint32_t height;
+  uint32_t width;
+  char *encoding;
+  uint8_t is_bigendian;
+  uint32_t step;
+  uint8_t *data;
+  size_t data_count;
+} Image;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_SENSOR_MSGS_IMAGE_H

src/APIs/c_api/include/sensor_msgs/Imu.h

@@ -0,0 +1,29 @@
+#ifndef C_API_SENSOR_MSGS_IMU_H
+#define C_API_SENSOR_MSGS_IMU_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Quaternion.h"
+#include "geometry_msgs/Vector3.h"
+
+typedef struct
+{
+  Header header;
+  Quaternion orientation;
+  double orientation_covariance[9];
+  Vector3 angular_velocity;
+  double angular_velocity_covariance[9];
+  Vector3 linear_acceleration;
+  double linear_acceleration_covariance[9];
+} Imu;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_SENSOR_MSGS_IMU_H

src/APIs/c_api/include/sensor_msgs/JointState.h

@@ -0,0 +1,29 @@
+#ifndef C_API_SENSOR_MSGS_JOINTSTATE_H
+#define C_API_SENSOR_MSGS_JOINTSTATE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+
+typedef struct
+{
+  Header header;
+  char **name;
+  size_t name_count;
+  double *position;
+  size_t position_count;
+  double *velocity;
+  size_t velocity_count;
+  double *effort;
+  size_t effort_count;
+} JointState;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_SENSOR_MSGS_JOINTSTATE_H

src/APIs/c_api/include/sensor_msgs/Joy.h

@@ -0,0 +1,25 @@
+#ifndef C_API_SENSOR_MSGS_JOY_H
+#define C_API_SENSOR_MSGS_JOY_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+
+typedef struct
+{
+  Header header;
+  float *axes;
+  size_t axes_count;
+  int32_t *buttons;
+  size_t buttons_count;
+} Joy;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_SENSOR_MSGS_JOY_H

src/APIs/c_api/include/sensor_msgs/JoyFeedback.h

@@ -0,0 +1,22 @@
+#ifndef C_API_SENSOR_MSGS_JOYFEEDBACK_H
+#define C_API_SENSOR_MSGS_JOYFEEDBACK_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+
+typedef struct
+{
+  uint8_t type;
+  uint8_t id;
+  float intensity;
+} JoyFeedback;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_SENSOR_MSGS_JOYFEEDBACK_H

src/APIs/c_api/include/sensor_msgs/JoyFeedbackArray.h

@@ -0,0 +1,22 @@
+#ifndef C_API_SENSOR_MSGS_JOYFEEDBACKARRAY_H
+#define C_API_SENSOR_MSGS_JOYFEEDBACKARRAY_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "sensor_msgs/JoyFeedback.h"
+
+typedef struct
+{
+  JoyFeedback *array;
+  size_t array_count;
+} JoyFeedbackArray;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_SENSOR_MSGS_JOYFEEDBACKARRAY_H

src/APIs/c_api/include/sensor_msgs/LaserEcho.h

@@ -0,0 +1,21 @@
+#ifndef C_API_SENSOR_MSGS_LASERECHO_H
+#define C_API_SENSOR_MSGS_LASERECHO_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+
+typedef struct
+{
+  float *echoes;
+  size_t echoes_count;
+} LaserEcho;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_SENSOR_MSGS_LASERECHO_H

src/APIs/c_api/include/sensor_msgs/LaserScan.h

@@ -0,0 +1,32 @@
+#ifndef C_API_SENSOR_MSGS_LASER_SCAN_H
+#define C_API_SENSOR_MSGS_LASER_SCAN_H
+
+#ifdef __cplusplus
+extern "C"
+{
+#endif
+#include <stdbool.h>
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+
+typedef struct
+{
+  Header header;
+  float angle_min;
+  float angle_max;
+  float angle_increment;
+  float time_increment;
+  float scan_time;
+  float range_min;
+  float range_max;
+  float *ranges;
+  size_t ranges_count;
+  float *intensities;
+  size_t intensities_count;
+} LaserScan;
+ 
+#ifdef __cplusplus
+}
+#endif
+#endif // C_API_SENSOR_MSGS_LASER_SCAN_H

src/APIs/c_api/include/sensor_msgs/MultiEchoLaserScan.h

@@ -0,0 +1,33 @@
+#ifndef C_API_SENSOR_MSGS_MULTIECHOLASERSCAN_H
+#define C_API_SENSOR_MSGS_MULTIECHOLASERSCAN_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "sensor_msgs/LaserEcho.h"
+
+typedef struct
+{
+  Header header;
+  float angle_min;
+  float angle_max;
+  float angle_increment;
+  float time_increment;
+  float scan_time;
+  float range_min;
+  float range_max;
+  LaserEcho *ranges;
+  size_t ranges_count;
+  LaserEcho *intensities;
+  size_t intensities_count;
+} MultiEchoLaserScan;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_SENSOR_MSGS_MULTIECHOLASERSCAN_H

src/APIs/c_api/include/sensor_msgs/PointCloud.h

@@ -0,0 +1,27 @@
+#ifndef C_API_SENSOR_MSGS_POINTCLOUD_H
+#define C_API_SENSOR_MSGS_POINTCLOUD_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "geometry_msgs/Point32.h"
+#include "sensor_msgs/ChannelFloat32.h"
+
+typedef struct
+{
+  Header header;
+  Point32 *points;
+  size_t points_count;
+  ChannelFloat32 *channels;
+  size_t channels_count;
+} PointCloud;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_SENSOR_MSGS_POINTCLOUD_H

src/APIs/c_api/include/sensor_msgs/PointCloud2.h

@@ -0,0 +1,33 @@
+#ifndef C_API_SENSOR_MSGS_POINTCLOUD2_H
+#define C_API_SENSOR_MSGS_POINTCLOUD2_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+#include "sensor_msgs/PointField.h"
+
+typedef struct
+{
+  Header header;
+  uint32_t height;
+  uint32_t width;
+  PointField *fields;
+  size_t fields_count;
+  bool is_bigendian;
+  uint32_t point_step;
+  uint32_t row_step;
+  uint8_t *data;
+  size_t data_count;
+  bool is_dense;
+} PointCloud2;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_SENSOR_MSGS_POINTCLOUD2_H

src/APIs/c_api/include/sensor_msgs/PointField.h

@@ -0,0 +1,23 @@
+#ifndef C_API_SENSOR_MSGS_POINTFIELD_H
+#define C_API_SENSOR_MSGS_POINTFIELD_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+
+typedef struct
+{
+  char *name;
+  uint32_t offset;
+  uint8_t datatype;
+  uint32_t count;
+} PointField;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_SENSOR_MSGS_POINTFIELD_H

src/APIs/c_api/include/sensor_msgs/Range.h

@@ -0,0 +1,26 @@
+#ifndef C_API_SENSOR_MSGS_RANGE_H
+#define C_API_SENSOR_MSGS_RANGE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+
+typedef struct
+{
+  Header header;
+  uint8_t radiation_type;
+  float field_of_view;
+  float min_range;
+  float max_range;
+  float range;
+} Range;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_SENSOR_MSGS_RANGE_H

src/APIs/c_api/include/sensor_msgs/RegionOfInterest.h

@@ -0,0 +1,25 @@
+#ifndef C_API_SENSOR_MSGS_REGIONOFINTEREST_H
+#define C_API_SENSOR_MSGS_REGIONOFINTEREST_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdbool.h>
+#include <stdint.h>
+#include <stddef.h>
+
+typedef struct
+{
+  uint32_t x_offset;
+  uint32_t y_offset;
+  uint32_t height;
+  uint32_t width;
+  bool do_rectify;
+} RegionOfInterest;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_SENSOR_MSGS_REGIONOFINTEREST_H

src/APIs/c_api/include/sensor_msgs/RelativeHumidity.h

@@ -0,0 +1,23 @@
+#ifndef C_API_SENSOR_MSGS_RELATIVEHUMIDITY_H
+#define C_API_SENSOR_MSGS_RELATIVEHUMIDITY_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+
+typedef struct
+{
+  Header header;
+  double relative_humidity;
+  double variance;
+} RelativeHumidity;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_SENSOR_MSGS_RELATIVEHUMIDITY_H

src/APIs/c_api/include/sensor_msgs/Temperature.h

@@ -0,0 +1,23 @@
+#ifndef C_API_SENSOR_MSGS_TEMPERATURE_H
+#define C_API_SENSOR_MSGS_TEMPERATURE_H
+
+#ifdef __cplusplus
+extern "C" {
+#endif
+
+#include <stdint.h>
+#include <stddef.h>
+#include "std_msgs/Header.h"
+
+typedef struct
+{
+  Header header;
+  double temperature;
+  double variance;
+} Temperature;
+
+#ifdef __cplusplus
+}
+#endif
+
+#endif // C_API_SENSOR_MSGS_TEMPERATURE_H