Add files using upload-large-folder tool

camera_ws/build/CMakeFiles/3.16.3/CMakeDetermineCompilerABI_CXX.bin

@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4681156c96ab6b7272e1143f0179369d72cd3397b64f87ee3ba3e4d096f02b3b
+size 16560

camera_ws/devel/lib/python3/dist-packages/astra_camera/srv/_GetInt32.py

@@ -0,0 +1,254 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from astra_camera/GetInt32Request.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class GetInt32Request(genpy.Message):
+  _md5sum = "d41d8cd98f00b204e9800998ecf8427e"
+  _type = "astra_camera/GetInt32Request"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """"""
+  __slots__ = []
+  _slot_types = []
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(GetInt32Request, self).__init__(*args, **kwds)
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      pass
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      pass
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+_struct_I = genpy.struct_I
+def _get_struct_I():
+    global _struct_I
+    return _struct_I
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from astra_camera/GetInt32Response.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class GetInt32Response(genpy.Message):
+  _md5sum = "1e06c77f31583d55c01571a573d75b9f"
+  _type = "astra_camera/GetInt32Response"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """int32 data
+bool success
+string message
+
+"""
+  __slots__ = ['data','success','message']
+  _slot_types = ['int32','bool','string']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       data,success,message
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(GetInt32Response, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.data is None:
+        self.data = 0
+      if self.success is None:
+        self.success = False
+      if self.message is None:
+        self.message = ''
+    else:
+      self.data = 0
+      self.success = False
+      self.message = ''
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self
+      buff.write(_get_struct_iB().pack(_x.data, _x.success))
+      _x = self.message
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      _x = self
+      start = end
+      end += 5
+      (_x.data, _x.success,) = _get_struct_iB().unpack(str[start:end])
+      self.success = bool(self.success)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.message = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.message = str[start:end]
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self
+      buff.write(_get_struct_iB().pack(_x.data, _x.success))
+      _x = self.message
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      _x = self
+      start = end
+      end += 5
+      (_x.data, _x.success,) = _get_struct_iB().unpack(str[start:end])
+      self.success = bool(self.success)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.message = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.message = str[start:end]
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+_struct_I = genpy.struct_I
+def _get_struct_I():
+    global _struct_I
+    return _struct_I
+_struct_iB = None
+def _get_struct_iB():
+    global _struct_iB
+    if _struct_iB is None:
+        _struct_iB = struct.Struct("<iB")
+    return _struct_iB
+class GetInt32(object):
+  _type          = 'astra_camera/GetInt32'
+  _md5sum = '1e06c77f31583d55c01571a573d75b9f'
+  _request_class  = GetInt32Request
+  _response_class = GetInt32Response

camera_ws/devel/lib/python3/dist-packages/astra_camera/srv/_GetString.py

@@ -0,0 +1,282 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from astra_camera/GetStringRequest.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class GetStringRequest(genpy.Message):
+  _md5sum = "d41d8cd98f00b204e9800998ecf8427e"
+  _type = "astra_camera/GetStringRequest"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """"""
+  __slots__ = []
+  _slot_types = []
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(GetStringRequest, self).__init__(*args, **kwds)
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      pass
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      pass
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+_struct_I = genpy.struct_I
+def _get_struct_I():
+    global _struct_I
+    return _struct_I
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from astra_camera/GetStringResponse.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class GetStringResponse(genpy.Message):
+  _md5sum = "15baad3d82a7b70bfc4eb31d66322293"
+  _type = "astra_camera/GetStringResponse"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """string data
+bool success
+string message
+
+"""
+  __slots__ = ['data','success','message']
+  _slot_types = ['string','bool','string']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       data,success,message
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(GetStringResponse, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.data is None:
+        self.data = ''
+      if self.success is None:
+        self.success = False
+      if self.message is None:
+        self.message = ''
+    else:
+      self.data = ''
+      self.success = False
+      self.message = ''
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self.data
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
+      _x = self.success
+      buff.write(_get_struct_B().pack(_x))
+      _x = self.message
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.data = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.data = str[start:end]
+      start = end
+      end += 1
+      (self.success,) = _get_struct_B().unpack(str[start:end])
+      self.success = bool(self.success)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.message = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.message = str[start:end]
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self.data
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
+      _x = self.success
+      buff.write(_get_struct_B().pack(_x))
+      _x = self.message
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.data = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.data = str[start:end]
+      start = end
+      end += 1
+      (self.success,) = _get_struct_B().unpack(str[start:end])
+      self.success = bool(self.success)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.message = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.message = str[start:end]
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+_struct_I = genpy.struct_I
+def _get_struct_I():
+    global _struct_I
+    return _struct_I
+_struct_B = None
+def _get_struct_B():
+    global _struct_B
+    if _struct_B is None:
+        _struct_B = struct.Struct("<B")
+    return _struct_B
+class GetString(object):
+  _type          = 'astra_camera/GetString'
+  _md5sum = '15baad3d82a7b70bfc4eb31d66322293'
+  _request_class  = GetStringRequest
+  _response_class = GetStringResponse

camera_ws/devel/lib/python3/dist-packages/astra_camera/srv/_SetString.py

@@ -0,0 +1,282 @@
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from astra_camera/SetStringRequest.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class SetStringRequest(genpy.Message):
+  _md5sum = "992ce8a1687cec8c8bd883ec73ca41d1"
+  _type = "astra_camera/SetStringRequest"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """string data
+"""
+  __slots__ = ['data']
+  _slot_types = ['string']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       data
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(SetStringRequest, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.data is None:
+        self.data = ''
+    else:
+      self.data = ''
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self.data
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.data = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.data = str[start:end]
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self.data
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.data = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.data = str[start:end]
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+_struct_I = genpy.struct_I
+def _get_struct_I():
+    global _struct_I
+    return _struct_I
+# This Python file uses the following encoding: utf-8
+"""autogenerated by genpy from astra_camera/SetStringResponse.msg. Do not edit."""
+import codecs
+import sys
+python3 = True if sys.hexversion > 0x03000000 else False
+import genpy
+import struct
+
+
+class SetStringResponse(genpy.Message):
+  _md5sum = "937c9679a518e3a18d831e57125ea522"
+  _type = "astra_camera/SetStringResponse"
+  _has_header = False  # flag to mark the presence of a Header object
+  _full_text = """bool success
+string message
+
+"""
+  __slots__ = ['success','message']
+  _slot_types = ['bool','string']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+
+    The available fields are:
+       success,message
+
+    :param args: complete set of field values, in .msg order
+    :param kwds: use keyword arguments corresponding to message field names
+    to set specific fields.
+    """
+    if args or kwds:
+      super(SetStringResponse, self).__init__(*args, **kwds)
+      # message fields cannot be None, assign default values for those that are
+      if self.success is None:
+        self.success = False
+      if self.message is None:
+        self.message = ''
+    else:
+      self.success = False
+      self.message = ''
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    :param buff: buffer, ``StringIO``
+    """
+    try:
+      _x = self.success
+      buff.write(_get_struct_B().pack(_x))
+      _x = self.message
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    :param str: byte array of serialized message, ``str``
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      start = end
+      end += 1
+      (self.success,) = _get_struct_B().unpack(str[start:end])
+      self.success = bool(self.success)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.message = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.message = str[start:end]
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    :param buff: buffer, ``StringIO``
+    :param numpy: numpy python module
+    """
+    try:
+      _x = self.success
+      buff.write(_get_struct_B().pack(_x))
+      _x = self.message
+      length = len(_x)
+      if python3 or type(_x) == unicode:
+        _x = _x.encode('utf-8')
+        length = len(_x)
+      buff.write(struct.Struct('<I%ss'%length).pack(length, _x))
+    except struct.error as se: self._check_types(struct.error("%s: '%s' when writing '%s'" % (type(se), str(se), str(locals().get('_x', self)))))
+    except TypeError as te: self._check_types(ValueError("%s: '%s' when writing '%s'" % (type(te), str(te), str(locals().get('_x', self)))))
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    :param str: byte array of serialized message, ``str``
+    :param numpy: numpy python module
+    """
+    if python3:
+      codecs.lookup_error("rosmsg").msg_type = self._type
+    try:
+      end = 0
+      start = end
+      end += 1
+      (self.success,) = _get_struct_B().unpack(str[start:end])
+      self.success = bool(self.success)
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      if python3:
+        self.message = str[start:end].decode('utf-8', 'rosmsg')
+      else:
+        self.message = str[start:end]
+      return self
+    except struct.error as e:
+      raise genpy.DeserializationError(e)  # most likely buffer underfill
+
+_struct_I = genpy.struct_I
+def _get_struct_I():
+    global _struct_I
+    return _struct_I
+_struct_B = None
+def _get_struct_B():
+    global _struct_B
+    if _struct_B is None:
+        _struct_B = struct.Struct("<B")
+    return _struct_B
+class SetString(object):
+  _type          = 'astra_camera/SetString'
+  _md5sum = '546971982e3fbbd5a41e60fb6432e357'
+  _request_class  = SetStringRequest
+  _response_class = SetStringResponse

camera_ws/devel/share/astra_camera/cmake/astra_camera-msg-extras.cmake

@@ -0,0 +1,2 @@
+set(astra_camera_MESSAGE_FILES "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/DeviceInfo.msg;/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Extrinsics.msg;/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg/Metadata.msg")
+set(astra_camera_SERVICE_FILES "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetBool.srv;/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraInfo.srv;/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetCameraParams.srv;/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDeviceInfo.srv;/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetDouble.srv;/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetInt32.srv;/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/GetString.srv;/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetInt32.srv;/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/srv/SetString.srv")

camera_ws/devel/share/astra_camera/cmake/astra_camera-msg-paths.cmake

@@ -0,0 +1,4 @@
+# generated from genmsg/cmake/pkg-msg-paths.cmake.develspace.in
+
+set(astra_camera_MSG_INCLUDE_DIRS "/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/msg")
+set(astra_camera_MSG_DEPENDENCIES std_msgs;sensor_msgs)

camera_ws/devel/share/astra_camera/cmake/astra_cameraConfig-version.cmake

@@ -0,0 +1,14 @@
+# generated from catkin/cmake/template/pkgConfig-version.cmake.in
+set(PACKAGE_VERSION "1.2.7")
+
+set(PACKAGE_VERSION_EXACT False)
+set(PACKAGE_VERSION_COMPATIBLE False)
+
+if("${PACKAGE_FIND_VERSION}" VERSION_EQUAL "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_EXACT True)
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()
+
+if("${PACKAGE_FIND_VERSION}" VERSION_LESS "${PACKAGE_VERSION}")
+  set(PACKAGE_VERSION_COMPATIBLE True)
+endif()

camera_ws/devel/share/astra_camera/cmake/astra_cameraConfig.cmake

@@ -0,0 +1,223 @@
+# generated from catkin/cmake/template/pkgConfig.cmake.in
+
+# append elements to a list and remove existing duplicates from the list
+# copied from catkin/cmake/list_append_deduplicate.cmake to keep pkgConfig
+# self contained
+macro(_list_append_deduplicate listname)
+  if(NOT "${ARGN}" STREQUAL "")
+    if(${listname})
+      list(REMOVE_ITEM ${listname} ${ARGN})
+    endif()
+    list(APPEND ${listname} ${ARGN})
+  endif()
+endmacro()
+
+# append elements to a list if they are not already in the list
+# copied from catkin/cmake/list_append_unique.cmake to keep pkgConfig
+# self contained
+macro(_list_append_unique listname)
+  foreach(_item ${ARGN})
+    list(FIND ${listname} ${_item} _index)
+    if(_index EQUAL -1)
+      list(APPEND ${listname} ${_item})
+    endif()
+  endforeach()
+endmacro()
+
+# pack a list of libraries with optional build configuration keywords
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_pack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  set(_argn ${ARGN})
+  list(LENGTH _argn _count)
+  set(_index 0)
+  while(${_index} LESS ${_count})
+    list(GET _argn ${_index} lib)
+    if("${lib}" MATCHES "^(debug|optimized|general)$")
+      math(EXPR _index "${_index} + 1")
+      if(${_index} EQUAL ${_count})
+        message(FATAL_ERROR "_pack_libraries_with_build_configuration() the list of libraries '${ARGN}' ends with '${lib}' which is a build configuration keyword and must be followed by a library")
+      endif()
+      list(GET _argn ${_index} library)
+      list(APPEND ${VAR} "${lib}${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}${library}")
+    else()
+      list(APPEND ${VAR} "${lib}")
+    endif()
+    math(EXPR _index "${_index} + 1")
+  endwhile()
+endmacro()
+
+# unpack a list of libraries with optional build configuration keyword prefixes
+# copied from catkin/cmake/catkin_libraries.cmake to keep pkgConfig
+# self contained
+macro(_unpack_libraries_with_build_configuration VAR)
+  set(${VAR} "")
+  foreach(lib ${ARGN})
+    string(REGEX REPLACE "^(debug|optimized|general)${CATKIN_BUILD_CONFIGURATION_KEYWORD_SEPARATOR}(.+)$" "\\1;\\2" lib "${lib}")
+    list(APPEND ${VAR} "${lib}")
+  endforeach()
+endmacro()
+
+
+if(astra_camera_CONFIG_INCLUDED)
+  return()
+endif()
+set(astra_camera_CONFIG_INCLUDED TRUE)
+
+# set variables for source/devel/install prefixes
+if("TRUE" STREQUAL "TRUE")
+  set(astra_camera_SOURCE_PREFIX /home/agilex/cobot_magic/camera_ws/src/ros_astra_camera)
+  set(astra_camera_DEVEL_PREFIX /home/agilex/cobot_magic/camera_ws/devel)
+  set(astra_camera_INSTALL_PREFIX "")
+  set(astra_camera_PREFIX ${astra_camera_DEVEL_PREFIX})
+else()
+  set(astra_camera_SOURCE_PREFIX "")
+  set(astra_camera_DEVEL_PREFIX "")
+  set(astra_camera_INSTALL_PREFIX /home/agilex/cobot_magic/camera_ws/install)
+  set(astra_camera_PREFIX ${astra_camera_INSTALL_PREFIX})
+endif()
+
+# warn when using a deprecated package
+if(NOT "" STREQUAL "")
+  set(_msg "WARNING: package 'astra_camera' is deprecated")
+  # append custom deprecation text if available
+  if(NOT "" STREQUAL "TRUE")
+    set(_msg "${_msg} ()")
+  endif()
+  message("${_msg}")
+endif()
+
+# flag project as catkin-based to distinguish if a find_package()-ed project is a catkin project
+set(astra_camera_FOUND_CATKIN_PROJECT TRUE)
+
+if(NOT "/home/agilex/cobot_magic/camera_ws/devel/include;/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/include " STREQUAL " ")
+  set(astra_camera_INCLUDE_DIRS "")
+  set(_include_dirs "/home/agilex/cobot_magic/camera_ws/devel/include;/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/include")
+  if(NOT " " STREQUAL " ")
+    set(_report "Check the issue tracker '' and consider creating a ticket if the problem has not been reported yet.")
+  elseif(NOT " " STREQUAL " ")
+    set(_report "Check the website '' for information and consider reporting the problem.")
+  else()
+    set(_report "Report the problem to the maintainer 'Mo Cun <mocun@orbbec.com>' and request to fix the problem.")
+  endif()
+  foreach(idir ${_include_dirs})
+    if(IS_ABSOLUTE ${idir} AND IS_DIRECTORY ${idir})
+      set(include ${idir})
+    elseif("${idir} " STREQUAL "include ")
+      get_filename_component(include "${astra_camera_DIR}/../../../include" ABSOLUTE)
+      if(NOT IS_DIRECTORY ${include})
+        message(FATAL_ERROR "Project 'astra_camera' specifies '${idir}' as an include dir, which is not found.  It does not exist in '${include}'.  ${_report}")
+      endif()
+    else()
+      message(FATAL_ERROR "Project 'astra_camera' specifies '${idir}' as an include dir, which is not found.  It does neither exist as an absolute directory nor in '/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/${idir}'.  ${_report}")
+    endif()
+    _list_append_unique(astra_camera_INCLUDE_DIRS ${include})
+  endforeach()
+endif()
+
+set(libraries "astra_camera")
+foreach(library ${libraries})
+  # keep build configuration keywords, target names and absolute libraries as-is
+  if("${library}" MATCHES "^(debug|optimized|general)$")
+    list(APPEND astra_camera_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-l")
+    list(APPEND astra_camera_LIBRARIES ${library})
+  elseif(${library} MATCHES "^-")
+    # This is a linker flag/option (like -pthread)
+    # There's no standard variable for these, so create an interface library to hold it
+    if(NOT astra_camera_NUM_DUMMY_TARGETS)
+      set(astra_camera_NUM_DUMMY_TARGETS 0)
+    endif()
+    # Make sure the target name is unique
+    set(interface_target_name "catkin::astra_camera::wrapped-linker-option${astra_camera_NUM_DUMMY_TARGETS}")
+    while(TARGET "${interface_target_name}")
+      math(EXPR astra_camera_NUM_DUMMY_TARGETS "${astra_camera_NUM_DUMMY_TARGETS}+1")
+      set(interface_target_name "catkin::astra_camera::wrapped-linker-option${astra_camera_NUM_DUMMY_TARGETS}")
+    endwhile()
+    add_library("${interface_target_name}" INTERFACE IMPORTED)
+    if("${CMAKE_VERSION}" VERSION_LESS "3.13.0")
+      set_property(
+        TARGET
+        "${interface_target_name}"
+        APPEND PROPERTY
+        INTERFACE_LINK_LIBRARIES "${library}")
+    else()
+      target_link_options("${interface_target_name}" INTERFACE "${library}")
+    endif()
+    list(APPEND astra_camera_LIBRARIES "${interface_target_name}")
+  elseif(TARGET ${library})
+    list(APPEND astra_camera_LIBRARIES ${library})
+  elseif(IS_ABSOLUTE ${library})
+    list(APPEND astra_camera_LIBRARIES ${library})
+  else()
+    set(lib_path "")
+    set(lib "${library}-NOTFOUND")
+    # since the path where the library is found is returned we have to iterate over the paths manually
+    foreach(path /home/agilex/cobot_magic/camera_ws/devel/lib;/home/agilex/agilex_ws/devel/lib;/opt/ros/noetic/lib)
+      find_library(lib ${library}
+        PATHS ${path}
+        NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
+      if(lib)
+        set(lib_path ${path})
+        break()
+      endif()
+    endforeach()
+    if(lib)
+      _list_append_unique(astra_camera_LIBRARY_DIRS ${lib_path})
+      list(APPEND astra_camera_LIBRARIES ${lib})
+    else()
+      # as a fall back for non-catkin libraries try to search globally
+      find_library(lib ${library})
+      if(NOT lib)
+        message(FATAL_ERROR "Project '${PROJECT_NAME}' tried to find library '${library}'.  The library is neither a target nor built/installed properly.  Did you compile project 'astra_camera'?  Did you find_package() it before the subdirectory containing its code is included?")
+      endif()
+      list(APPEND astra_camera_LIBRARIES ${lib})
+    endif()
+  endif()
+endforeach()
+
+set(astra_camera_EXPORTED_TARGETS "astra_camera_gencfg;astra_camera_generate_messages_cpp;astra_camera_generate_messages_eus;astra_camera_generate_messages_lisp;astra_camera_generate_messages_nodejs;astra_camera_generate_messages_py")
+# create dummy targets for exported code generation targets to make life of users easier
+foreach(t ${astra_camera_EXPORTED_TARGETS})
+  if(NOT TARGET ${t})
+    add_custom_target(${t})
+  endif()
+endforeach()
+
+set(depends "cv_bridge;dynamic_reconfigure;image_geometry;image_transport;message_runtime;roscpp;sensor_msgs;tf2;tf2_ros;std_srvs;message_filters;camera_info_manager")
+foreach(depend ${depends})
+  string(REPLACE " " ";" depend_list ${depend})
+  # the package name of the dependency must be kept in a unique variable so that it is not overwritten in recursive calls
+  list(GET depend_list 0 astra_camera_dep)
+  list(LENGTH depend_list count)
+  if(${count} EQUAL 1)
+    # simple dependencies must only be find_package()-ed once
+    if(NOT ${astra_camera_dep}_FOUND)
+      find_package(${astra_camera_dep} REQUIRED NO_MODULE)
+    endif()
+  else()
+    # dependencies with components must be find_package()-ed again
+    list(REMOVE_AT depend_list 0)
+    find_package(${astra_camera_dep} REQUIRED NO_MODULE ${depend_list})
+  endif()
+  _list_append_unique(astra_camera_INCLUDE_DIRS ${${astra_camera_dep}_INCLUDE_DIRS})
+
+  # merge build configuration keywords with library names to correctly deduplicate
+  _pack_libraries_with_build_configuration(astra_camera_LIBRARIES ${astra_camera_LIBRARIES})
+  _pack_libraries_with_build_configuration(_libraries ${${astra_camera_dep}_LIBRARIES})
+  _list_append_deduplicate(astra_camera_LIBRARIES ${_libraries})
+  # undo build configuration keyword merging after deduplication
+  _unpack_libraries_with_build_configuration(astra_camera_LIBRARIES ${astra_camera_LIBRARIES})
+
+  _list_append_unique(astra_camera_LIBRARY_DIRS ${${astra_camera_dep}_LIBRARY_DIRS})
+  _list_append_deduplicate(astra_camera_EXPORTED_TARGETS ${${astra_camera_dep}_EXPORTED_TARGETS})
+endforeach()
+
+set(pkg_cfg_extras "astra_camera-msg-extras.cmake")
+foreach(extra ${pkg_cfg_extras})
+  if(NOT IS_ABSOLUTE ${extra})
+    set(extra ${astra_camera_DIR}/${extra})
+  endif()
+  include(${extra})
+endforeach()

camera_ws/devel/share/astra_camera/docs/AstraConfig-usage.dox

@@ -0,0 +1,25 @@
+\subsubsection usage Usage
+\verbatim
+<node name="Astra" pkg="astra_camera" type="Astra">
+  <param name="edited_video_modes" type="str" value="{\"enum\": [{\"name\": \"1024_768_5\", \"type\": \"int\", \"value\": 1, \"srcline\": 11, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1024x768@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1024_768_10\", \"type\": \"int\", \"value\": 2, \"srcline\": 12, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1024x768@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1024_768_15\", \"type\": \"int\", \"value\": 3, \"srcline\": 13, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1024x768@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1024_768_30\", \"type\": \"int\", \"value\": 4, \"srcline\": 14, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1024x768@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1024_768_60\", \"type\": \"int\", \"value\": 5, \"srcline\": 15, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1024x768@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_1024_5\", \"type\": \"int\", \"value\": 6, \"srcline\": 16, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x1024@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_1024_10\", \"type\": \"int\", \"value\": 7, \"srcline\": 17, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x1024@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_1024_15\", \"type\": \"int\", \"value\": 8, \"srcline\": 18, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x1024@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_1024_30\", \"type\": \"int\", \"value\": 9, \"srcline\": 19, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x1024@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_1024_60\", \"type\": \"int\", \"value\": 10, \"srcline\": 20, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x1024@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_720_5\", \"type\": \"int\", \"value\": 11, \"srcline\": 21, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x720@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_720_10\", \"type\": \"int\", \"value\": 12, \"srcline\": 22, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x720@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_720_15\", \"type\": \"int\", \"value\": 13, \"srcline\": 23, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x720@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_720_30\", \"type\": \"int\", \"value\": 14, \"srcline\": 24, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x720@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_720_60\", \"type\": \"int\", \"value\": 15, \"srcline\": 25, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x720@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_800_5\", \"type\": \"int\", \"value\": 16, \"srcline\": 26, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x800@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_800_10\", \"type\": \"int\", \"value\": 17, \"srcline\": 27, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x800@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_800_15\", \"type\": \"int\", \"value\": 18, \"srcline\": 28, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x800@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_800_30\", \"type\": \"int\", \"value\": 19, \"srcline\": 29, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x800@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_800_60\", \"type\": \"int\", \"value\": 20, \"srcline\": 30, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x800@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"160_120_5\", \"type\": \"int\", \"value\": 21, \"srcline\": 31, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"160x120@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"160_120_10\", \"type\": \"int\", \"value\": 22, \"srcline\": 32, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"160x120@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"160_120_15\", \"type\": \"int\", \"value\": 23, \"srcline\": 33, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"160x120@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"160_120_30\", \"type\": \"int\", \"value\": 24, \"srcline\": 34, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"160x120@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"160_120_60\", \"type\": \"int\", \"value\": 25, \"srcline\": 35, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"160x120@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"240_180_5\", \"type\": \"int\", \"value\": 26, \"srcline\": 36, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"240x180@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"240_180_10\", \"type\": \"int\", \"value\": 27, \"srcline\": 37, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"240x180@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"240_180_15\", \"type\": \"int\", \"value\": 28, \"srcline\": 38, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"240x180@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"240_180_30\", \"type\": \"int\", \"value\": 29, \"srcline\": 39, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"240x180@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"240_180_60\", \"type\": \"int\", \"value\": 30, \"srcline\": 40, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"240x180@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_180_5\", \"type\": \"int\", \"value\": 31, \"srcline\": 41, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x180@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_180_10\", \"type\": \"int\", \"value\": 32, \"srcline\": 42, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x180@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_180_15\", \"type\": \"int\", \"value\": 33, \"srcline\": 43, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x180@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_180_30\", \"type\": \"int\", \"value\": 34, \"srcline\": 44, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x180@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_180_60\", \"type\": \"int\", \"value\": 35, \"srcline\": 45, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x180@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_200_5\", \"type\": \"int\", \"value\": 36, \"srcline\": 46, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x200@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_200_10\", \"type\": \"int\", \"value\": 37, \"srcline\": 47, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x200@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_200_15\", \"type\": \"int\", \"value\": 38, \"srcline\": 48, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x200@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_200_30\", \"type\": \"int\", \"value\": 39, \"srcline\": 49, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x200@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_200_60\", \"type\": \"int\", \"value\": 40, \"srcline\": 50, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x200@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_240_5\", \"type\": \"int\", \"value\": 41, \"srcline\": 51, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x240@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_240_10\", \"type\": \"int\", \"value\": 42, \"srcline\": 52, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x240@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_240_15\", \"type\": \"int\", \"value\": 43, \"srcline\": 53, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x240@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_240_30\", \"type\": \"int\", \"value\": 44, \"srcline\": 54, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x240@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_240_60\", \"type\": \"int\", \"value\": 45, \"srcline\": 55, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x240@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"480_360_5\", \"type\": \"int\", \"value\": 46, \"srcline\": 56, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"480x360@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"480_360_10\", \"type\": \"int\", \"value\": 47, \"srcline\": 57, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"480x360@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"480_360_15\", \"type\": \"int\", \"value\": 48, \"srcline\": 58, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"480x360@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"480_360_30\", \"type\": \"int\", \"value\": 49, \"srcline\": 59, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"480x360@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"480_360_60\", \"type\": \"int\", \"value\": 50, \"srcline\": 60, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"480x360@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"512_384_5\", \"type\": \"int\", \"value\": 51, \"srcline\": 61, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"512x384@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"512_384_10\", \"type\": \"int\", \"value\": 52, \"srcline\": 62, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"512x384@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"512_384_15\", \"type\": \"int\", \"value\": 53, \"srcline\": 63, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"512x384@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"512_384_30\", \"type\": \"int\", \"value\": 54, \"srcline\": 64, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"512x384@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"512_384_60\", \"type\": \"int\", \"value\": 55, \"srcline\": 65, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"512x384@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_360_5\", \"type\": \"int\", \"value\": 56, \"srcline\": 66, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x360@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_360_10\", \"type\": \"int\", \"value\": 57, \"srcline\": 67, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x360@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_360_15\", \"type\": \"int\", \"value\": 58, \"srcline\": 68, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x360@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_360_30\", \"type\": \"int\", \"value\": 59, \"srcline\": 69, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x360@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_360_60\", \"type\": \"int\", \"value\": 60, \"srcline\": 70, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x360@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_400_5\", \"type\": \"int\", \"value\": 61, \"srcline\": 71, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x400@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_400_10\", \"type\": \"int\", \"value\": 62, \"srcline\": 72, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x400@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_400_15\", \"type\": \"int\", \"value\": 63, \"srcline\": 73, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x400@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_400_30\", \"type\": \"int\", \"value\": 64, \"srcline\": 74, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x400@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_400_60\", \"type\": \"int\", \"value\": 65, \"srcline\": 75, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x400@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_480_5\", \"type\": \"int\", \"value\": 66, \"srcline\": 76, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x480@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_480_10\", \"type\": \"int\", \"value\": 67, \"srcline\": 77, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x480@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_480_15\", \"type\": \"int\", \"value\": 68, \"srcline\": 78, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x480@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_480_30\", \"type\": \"int\", \"value\": 69, \"srcline\": 79, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x480@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_480_60\", \"type\": \"int\", \"value\": 70, \"srcline\": 80, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x480@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"160_100_5\", \"type\": \"int\", \"value\": 71, \"srcline\": 81, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"160x100@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"160_100_15\", \"type\": \"int\", \"value\": 72, \"srcline\": 82, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"160x100@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"160_100_30\", \"type\": \"int\", \"value\": 73, \"srcline\": 83, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"160x100@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"160_100_60\", \"type\": \"int\", \"value\": 74, \"srcline\": 84, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"160x100@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}], \"enum_description\": \"output mode\"}" />
+  <param name="rgb_preferred" type="bool" value="True" />
+  <param name="ir_mode" type="int" value="68" />
+  <param name="color_mode" type="int" value="68" />
+  <param name="depth_mode" type="int" value="69" />
+  <param name="depth_align" type="bool" value="False" />
+  <param name="color_depth_synchronization" type="bool" value="False" />
+  <param name="auto_exposure" type="bool" value="True" />
+  <param name="auto_white_balance" type="bool" value="True" />
+  <param name="data_skip" type="int" value="0" />
+  <param name="ir_time_offset" type="double" value="-0.033" />
+  <param name="color_time_offset" type="double" value="-0.033" />
+  <param name="depth_time_offset" type="double" value="-0.033" />
+  <param name="depth_ir_offset_x" type="double" value="5.0" />
+  <param name="depth_ir_offset_y" type="double" value="4.0" />
+  <param name="z_offset_mm" type="int" value="0" />
+  <param name="z_scaling" type="double" value="1.0" />
+  <param name="use_device_time" type="bool" value="True" />
+  <param name="keep_alive" type="bool" value="False" />
+</node>
+\endverbatim
+

camera_ws/devel/share/astra_camera/docs/AstraConfig.wikidoc

@@ -0,0 +1,84 @@
+# Autogenerated param section. Do not hand edit.
+param {
+group.0 {
+name=Dynamically Reconfigurable Parameters
+desc=See the [[dynamic_reconfigure]] package for details on dynamically reconfigurable parameters.
+0.name= ~edited_video_modes
+0.default= {\"enum\": [{\"name\": \"1024_768_5\", \"type\": \"int\", \"value\": 1, \"srcline\": 11, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1024x768@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1024_768_10\", \"type\": \"int\", \"value\": 2, \"srcline\": 12, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1024x768@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1024_768_15\", \"type\": \"int\", \"value\": 3, \"srcline\": 13, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1024x768@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1024_768_30\", \"type\": \"int\", \"value\": 4, \"srcline\": 14, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1024x768@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1024_768_60\", \"type\": \"int\", \"value\": 5, \"srcline\": 15, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1024x768@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_1024_5\", \"type\": \"int\", \"value\": 6, \"srcline\": 16, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x1024@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_1024_10\", \"type\": \"int\", \"value\": 7, \"srcline\": 17, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x1024@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_1024_15\", \"type\": \"int\", \"value\": 8, \"srcline\": 18, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x1024@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_1024_30\", \"type\": \"int\", \"value\": 9, \"srcline\": 19, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x1024@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_1024_60\", \"type\": \"int\", \"value\": 10, \"srcline\": 20, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x1024@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_720_5\", \"type\": \"int\", \"value\": 11, \"srcline\": 21, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x720@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_720_10\", \"type\": \"int\", \"value\": 12, \"srcline\": 22, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x720@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_720_15\", \"type\": \"int\", \"value\": 13, \"srcline\": 23, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x720@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_720_30\", \"type\": \"int\", \"value\": 14, \"srcline\": 24, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x720@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_720_60\", \"type\": \"int\", \"value\": 15, \"srcline\": 25, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x720@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_800_5\", \"type\": \"int\", \"value\": 16, \"srcline\": 26, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x800@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_800_10\", \"type\": \"int\", \"value\": 17, \"srcline\": 27, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x800@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_800_15\", \"type\": \"int\", \"value\": 18, \"srcline\": 28, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x800@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_800_30\", \"type\": \"int\", \"value\": 19, \"srcline\": 29, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x800@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"1280_800_60\", \"type\": \"int\", \"value\": 20, \"srcline\": 30, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"1280x800@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"160_120_5\", \"type\": \"int\", \"value\": 21, \"srcline\": 31, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"160x120@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"160_120_10\", \"type\": \"int\", \"value\": 22, \"srcline\": 32, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"160x120@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"160_120_15\", \"type\": \"int\", \"value\": 23, \"srcline\": 33, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"160x120@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"160_120_30\", \"type\": \"int\", \"value\": 24, \"srcline\": 34, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"160x120@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"160_120_60\", \"type\": \"int\", \"value\": 25, \"srcline\": 35, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"160x120@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"240_180_5\", \"type\": \"int\", \"value\": 26, \"srcline\": 36, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"240x180@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"240_180_10\", \"type\": \"int\", \"value\": 27, \"srcline\": 37, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"240x180@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"240_180_15\", \"type\": \"int\", \"value\": 28, \"srcline\": 38, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"240x180@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"240_180_30\", \"type\": \"int\", \"value\": 29, \"srcline\": 39, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"240x180@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"240_180_60\", \"type\": \"int\", \"value\": 30, \"srcline\": 40, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"240x180@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_180_5\", \"type\": \"int\", \"value\": 31, \"srcline\": 41, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x180@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_180_10\", \"type\": \"int\", \"value\": 32, \"srcline\": 42, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x180@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_180_15\", \"type\": \"int\", \"value\": 33, \"srcline\": 43, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x180@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_180_30\", \"type\": \"int\", \"value\": 34, \"srcline\": 44, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x180@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_180_60\", \"type\": \"int\", \"value\": 35, \"srcline\": 45, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x180@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_200_5\", \"type\": \"int\", \"value\": 36, \"srcline\": 46, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x200@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_200_10\", \"type\": \"int\", \"value\": 37, \"srcline\": 47, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x200@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_200_15\", \"type\": \"int\", \"value\": 38, \"srcline\": 48, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x200@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_200_30\", \"type\": \"int\", \"value\": 39, \"srcline\": 49, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x200@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_200_60\", \"type\": \"int\", \"value\": 40, \"srcline\": 50, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x200@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_240_5\", \"type\": \"int\", \"value\": 41, \"srcline\": 51, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x240@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_240_10\", \"type\": \"int\", \"value\": 42, \"srcline\": 52, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x240@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_240_15\", \"type\": \"int\", \"value\": 43, \"srcline\": 53, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x240@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_240_30\", \"type\": \"int\", \"value\": 44, \"srcline\": 54, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x240@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"320_240_60\", \"type\": \"int\", \"value\": 45, \"srcline\": 55, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"320x240@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"480_360_5\", \"type\": \"int\", \"value\": 46, \"srcline\": 56, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"480x360@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"480_360_10\", \"type\": \"int\", \"value\": 47, \"srcline\": 57, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"480x360@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"480_360_15\", \"type\": \"int\", \"value\": 48, \"srcline\": 58, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"480x360@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"480_360_30\", \"type\": \"int\", \"value\": 49, \"srcline\": 59, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"480x360@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"480_360_60\", \"type\": \"int\", \"value\": 50, \"srcline\": 60, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"480x360@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"512_384_5\", \"type\": \"int\", \"value\": 51, \"srcline\": 61, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"512x384@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"512_384_10\", \"type\": \"int\", \"value\": 52, \"srcline\": 62, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"512x384@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"512_384_15\", \"type\": \"int\", \"value\": 53, \"srcline\": 63, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"512x384@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"512_384_30\", \"type\": \"int\", \"value\": 54, \"srcline\": 64, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"512x384@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"512_384_60\", \"type\": \"int\", \"value\": 55, \"srcline\": 65, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"512x384@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_360_5\", \"type\": \"int\", \"value\": 56, \"srcline\": 66, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x360@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_360_10\", \"type\": \"int\", \"value\": 57, \"srcline\": 67, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x360@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_360_15\", \"type\": \"int\", \"value\": 58, \"srcline\": 68, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x360@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_360_30\", \"type\": \"int\", \"value\": 59, \"srcline\": 69, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x360@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_360_60\", \"type\": \"int\", \"value\": 60, \"srcline\": 70, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x360@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_400_5\", \"type\": \"int\", \"value\": 61, \"srcline\": 71, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x400@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_400_10\", \"type\": \"int\", \"value\": 62, \"srcline\": 72, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x400@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_400_15\", \"type\": \"int\", \"value\": 63, \"srcline\": 73, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x400@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_400_30\", \"type\": \"int\", \"value\": 64, \"srcline\": 74, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x400@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_400_60\", \"type\": \"int\", \"value\": 65, \"srcline\": 75, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x400@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_480_5\", \"type\": \"int\", \"value\": 66, \"srcline\": 76, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x480@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_480_10\", \"type\": \"int\", \"value\": 67, \"srcline\": 77, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x480@10\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_480_15\", \"type\": \"int\", \"value\": 68, \"srcline\": 78, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x480@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_480_30\", \"type\": \"int\", \"value\": 69, \"srcline\": 79, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x480@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"640_480_60\", \"type\": \"int\", \"value\": 70, \"srcline\": 80, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"640x480@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"160_100_5\", \"type\": \"int\", \"value\": 71, \"srcline\": 81, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"160x100@5\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"160_100_15\", \"type\": \"int\", \"value\": 72, \"srcline\": 82, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"160x100@15\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"160_100_30\", \"type\": \"int\", \"value\": 73, \"srcline\": 83, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"160x100@30\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}, {\"name\": \"160_100_60\", \"type\": \"int\", \"value\": 74, \"srcline\": 84, \"srcfile\": \"/home/agilex/cobot_magic/camera_ws/src/ros_astra_camera/cfg/Astra.cfg\", \"description\": \"160x100@60\", \"ctype\": \"int\", \"cconsttype\": \"const int\"}], \"enum_description\": \"output mode\"}
+0.type= str
+0.desc=edited video mode 
+1.name= ~rgb_preferred
+1.default= True
+1.type= bool
+1.desc=Preferred camera stream Possible values are: RGB (True): RGB video stream preferred, IR (True): IR video stream preferred
+2.name= ~ir_mode
+2.default= 68
+2.type= int
+2.desc=Video mode for IR camera Possible values are: 1024_768_5 (1): 1024x768@5, 1024_768_10 (2): 1024x768@10, 1024_768_15 (3): 1024x768@15, 1024_768_30 (4): 1024x768@30, 1024_768_60 (5): 1024x768@60, 1280_1024_5 (6): 1280x1024@5, 1280_1024_10 (7): 1280x1024@10, 1280_1024_15 (8): 1280x1024@15, 1280_1024_30 (9): 1280x1024@30, 1280_1024_60 (10): 1280x1024@60, 1280_720_5 (11): 1280x720@5, 1280_720_10 (12): 1280x720@10, 1280_720_15 (13): 1280x720@15, 1280_720_30 (14): 1280x720@30, 1280_720_60 (15): 1280x720@60, 1280_800_5 (16): 1280x800@5, 1280_800_10 (17): 1280x800@10, 1280_800_15 (18): 1280x800@15, 1280_800_30 (19): 1280x800@30, 1280_800_60 (20): 1280x800@60, 160_120_5 (21): 160x120@5, 160_120_10 (22): 160x120@10, 160_120_15 (23): 160x120@15, 160_120_30 (24): 160x120@30, 160_120_60 (25): 160x120@60, 240_180_5 (26): 240x180@5, 240_180_10 (27): 240x180@10, 240_180_15 (28): 240x180@15, 240_180_30 (29): 240x180@30, 240_180_60 (30): 240x180@60, 320_180_5 (31): 320x180@5, 320_180_10 (32): 320x180@10, 320_180_15 (33): 320x180@15, 320_180_30 (34): 320x180@30, 320_180_60 (35): 320x180@60, 320_200_5 (36): 320x200@5, 320_200_10 (37): 320x200@10, 320_200_15 (38): 320x200@15, 320_200_30 (39): 320x200@30, 320_200_60 (40): 320x200@60, 320_240_5 (41): 320x240@5, 320_240_10 (42): 320x240@10, 320_240_15 (43): 320x240@15, 320_240_30 (44): 320x240@30, 320_240_60 (45): 320x240@60, 480_360_5 (46): 480x360@5, 480_360_10 (47): 480x360@10, 480_360_15 (48): 480x360@15, 480_360_30 (49): 480x360@30, 480_360_60 (50): 480x360@60, 512_384_5 (51): 512x384@5, 512_384_10 (52): 512x384@10, 512_384_15 (53): 512x384@15, 512_384_30 (54): 512x384@30, 512_384_60 (55): 512x384@60, 640_360_5 (56): 640x360@5, 640_360_10 (57): 640x360@10, 640_360_15 (58): 640x360@15, 640_360_30 (59): 640x360@30, 640_360_60 (60): 640x360@60, 640_400_5 (61): 640x400@5, 640_400_10 (62): 640x400@10, 640_400_15 (63): 640x400@15, 640_400_30 (64): 640x400@30, 640_400_60 (65): 640x400@60, 640_480_5 (66): 640x480@5, 640_480_10 (67): 640x480@10, 640_480_15 (68): 640x480@15, 640_480_30 (69): 640x480@30, 640_480_60 (70): 640x480@60, 160_100_5 (71): 160x100@5, 160_100_15 (72): 160x100@15, 160_100_30 (73): 160x100@30, 160_100_60 (74): 160x100@60
+3.name= ~color_mode
+3.default= 68
+3.type= int
+3.desc=Video mode for color camera Possible values are: 1024_768_5 (1): 1024x768@5, 1024_768_10 (2): 1024x768@10, 1024_768_15 (3): 1024x768@15, 1024_768_30 (4): 1024x768@30, 1024_768_60 (5): 1024x768@60, 1280_1024_5 (6): 1280x1024@5, 1280_1024_10 (7): 1280x1024@10, 1280_1024_15 (8): 1280x1024@15, 1280_1024_30 (9): 1280x1024@30, 1280_1024_60 (10): 1280x1024@60, 1280_720_5 (11): 1280x720@5, 1280_720_10 (12): 1280x720@10, 1280_720_15 (13): 1280x720@15, 1280_720_30 (14): 1280x720@30, 1280_720_60 (15): 1280x720@60, 1280_800_5 (16): 1280x800@5, 1280_800_10 (17): 1280x800@10, 1280_800_15 (18): 1280x800@15, 1280_800_30 (19): 1280x800@30, 1280_800_60 (20): 1280x800@60, 160_120_5 (21): 160x120@5, 160_120_10 (22): 160x120@10, 160_120_15 (23): 160x120@15, 160_120_30 (24): 160x120@30, 160_120_60 (25): 160x120@60, 240_180_5 (26): 240x180@5, 240_180_10 (27): 240x180@10, 240_180_15 (28): 240x180@15, 240_180_30 (29): 240x180@30, 240_180_60 (30): 240x180@60, 320_180_5 (31): 320x180@5, 320_180_10 (32): 320x180@10, 320_180_15 (33): 320x180@15, 320_180_30 (34): 320x180@30, 320_180_60 (35): 320x180@60, 320_200_5 (36): 320x200@5, 320_200_10 (37): 320x200@10, 320_200_15 (38): 320x200@15, 320_200_30 (39): 320x200@30, 320_200_60 (40): 320x200@60, 320_240_5 (41): 320x240@5, 320_240_10 (42): 320x240@10, 320_240_15 (43): 320x240@15, 320_240_30 (44): 320x240@30, 320_240_60 (45): 320x240@60, 480_360_5 (46): 480x360@5, 480_360_10 (47): 480x360@10, 480_360_15 (48): 480x360@15, 480_360_30 (49): 480x360@30, 480_360_60 (50): 480x360@60, 512_384_5 (51): 512x384@5, 512_384_10 (52): 512x384@10, 512_384_15 (53): 512x384@15, 512_384_30 (54): 512x384@30, 512_384_60 (55): 512x384@60, 640_360_5 (56): 640x360@5, 640_360_10 (57): 640x360@10, 640_360_15 (58): 640x360@15, 640_360_30 (59): 640x360@30, 640_360_60 (60): 640x360@60, 640_400_5 (61): 640x400@5, 640_400_10 (62): 640x400@10, 640_400_15 (63): 640x400@15, 640_400_30 (64): 640x400@30, 640_400_60 (65): 640x400@60, 640_480_5 (66): 640x480@5, 640_480_10 (67): 640x480@10, 640_480_15 (68): 640x480@15, 640_480_30 (69): 640x480@30, 640_480_60 (70): 640x480@60, 160_100_5 (71): 160x100@5, 160_100_15 (72): 160x100@15, 160_100_30 (73): 160x100@30, 160_100_60 (74): 160x100@60
+4.name= ~depth_mode
+4.default= 69
+4.type= int
+4.desc=Video mode for depth camera Possible values are: 1024_768_5 (1): 1024x768@5, 1024_768_10 (2): 1024x768@10, 1024_768_15 (3): 1024x768@15, 1024_768_30 (4): 1024x768@30, 1024_768_60 (5): 1024x768@60, 1280_1024_5 (6): 1280x1024@5, 1280_1024_10 (7): 1280x1024@10, 1280_1024_15 (8): 1280x1024@15, 1280_1024_30 (9): 1280x1024@30, 1280_1024_60 (10): 1280x1024@60, 1280_720_5 (11): 1280x720@5, 1280_720_10 (12): 1280x720@10, 1280_720_15 (13): 1280x720@15, 1280_720_30 (14): 1280x720@30, 1280_720_60 (15): 1280x720@60, 1280_800_5 (16): 1280x800@5, 1280_800_10 (17): 1280x800@10, 1280_800_15 (18): 1280x800@15, 1280_800_30 (19): 1280x800@30, 1280_800_60 (20): 1280x800@60, 160_120_5 (21): 160x120@5, 160_120_10 (22): 160x120@10, 160_120_15 (23): 160x120@15, 160_120_30 (24): 160x120@30, 160_120_60 (25): 160x120@60, 240_180_5 (26): 240x180@5, 240_180_10 (27): 240x180@10, 240_180_15 (28): 240x180@15, 240_180_30 (29): 240x180@30, 240_180_60 (30): 240x180@60, 320_180_5 (31): 320x180@5, 320_180_10 (32): 320x180@10, 320_180_15 (33): 320x180@15, 320_180_30 (34): 320x180@30, 320_180_60 (35): 320x180@60, 320_200_5 (36): 320x200@5, 320_200_10 (37): 320x200@10, 320_200_15 (38): 320x200@15, 320_200_30 (39): 320x200@30, 320_200_60 (40): 320x200@60, 320_240_5 (41): 320x240@5, 320_240_10 (42): 320x240@10, 320_240_15 (43): 320x240@15, 320_240_30 (44): 320x240@30, 320_240_60 (45): 320x240@60, 480_360_5 (46): 480x360@5, 480_360_10 (47): 480x360@10, 480_360_15 (48): 480x360@15, 480_360_30 (49): 480x360@30, 480_360_60 (50): 480x360@60, 512_384_5 (51): 512x384@5, 512_384_10 (52): 512x384@10, 512_384_15 (53): 512x384@15, 512_384_30 (54): 512x384@30, 512_384_60 (55): 512x384@60, 640_360_5 (56): 640x360@5, 640_360_10 (57): 640x360@10, 640_360_15 (58): 640x360@15, 640_360_30 (59): 640x360@30, 640_360_60 (60): 640x360@60, 640_400_5 (61): 640x400@5, 640_400_10 (62): 640x400@10, 640_400_15 (63): 640x400@15, 640_400_30 (64): 640x400@30, 640_400_60 (65): 640x400@60, 640_480_5 (66): 640x480@5, 640_480_10 (67): 640x480@10, 640_480_15 (68): 640x480@15, 640_480_30 (69): 640x480@30, 640_480_60 (70): 640x480@60, 160_100_5 (71): 160x100@5, 160_100_15 (72): 160x100@15, 160_100_30 (73): 160x100@30, 160_100_60 (74): 160x100@60
+5.name= ~depth_align
+5.default= False
+5.type= bool
+5.desc=Hardware depth to color 
+6.name= ~color_depth_synchronization
+6.default= False
+6.type= bool
+6.desc=Synchronization of color and depth camera 
+7.name= ~auto_exposure
+7.default= True
+7.type= bool
+7.desc=Auto-Exposure 
+8.name= ~auto_white_balance
+8.default= True
+8.type= bool
+8.desc=Auto-White-Balance 
+9.name= ~data_skip
+9.default= 0
+9.type= int
+9.desc=Skip N images for every image published (rgb/depth/depth_registered/ir) Range: 0 to 10
+10.name= ~ir_time_offset
+10.default= -0.033
+10.type= double
+10.desc=ir image time offset in seconds Range: -1.0 to 1.0
+11.name= ~color_time_offset
+11.default= -0.033
+11.type= double
+11.desc=color image time offset in seconds Range: -1.0 to 1.0
+12.name= ~depth_time_offset
+12.default= -0.033
+12.type= double
+12.desc=depth image time offset in seconds Range: -1.0 to 1.0
+13.name= ~depth_ir_offset_x
+13.default= 5.0
+13.type= double
+13.desc=X offset between IR and depth images Range: -20.0 to 20.0
+14.name= ~depth_ir_offset_y
+14.default= 4.0
+14.type= double
+14.desc=Y offset between IR and depth images Range: -20.0 to 20.0
+15.name= ~z_offset_mm
+15.default= 0
+15.type= int
+15.desc=Z offset in mm Range: -200 to 200
+16.name= ~z_scaling
+16.default= 1.0
+16.type= double
+16.desc=Scaling factor for depth values Range: 0.5 to 1.5
+17.name= ~use_device_time
+17.default= True
+17.type= bool
+17.desc=Use internal timer of OpenNI device 
+18.name= ~keep_alive
+18.default= False
+18.type= bool
+18.desc=Send keep alive message to device 
+}
+}
+# End of autogenerated section. You may edit below.

camera_ws/devel/share/common-lisp/ros/astra_camera/msg/DeviceInfo.lisp

@@ -0,0 +1,242 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package astra_camera-msg)
+
+
+;//! \htmlinclude DeviceInfo.msg.html
+
+(cl:defclass <DeviceInfo> (roslisp-msg-protocol:ros-message)
+  ((header
+    :reader header
+    :initarg :header
+    :type std_msgs-msg:Header
+    :initform (cl:make-instance 'std_msgs-msg:Header))
+   (name
+    :reader name
+    :initarg :name
+    :type cl:string
+    :initform "")
+   (vid
+    :reader vid
+    :initarg :vid
+    :type cl:integer
+    :initform 0)
+   (pid
+    :reader pid
+    :initarg :pid
+    :type cl:integer
+    :initform 0)
+   (serial_number
+    :reader serial_number
+    :initarg :serial_number
+    :type cl:string
+    :initform "")
+   (firmware_version
+    :reader firmware_version
+    :initarg :firmware_version
+    :type cl:string
+    :initform "")
+   (supported_min_sdk_version
+    :reader supported_min_sdk_version
+    :initarg :supported_min_sdk_version
+    :type cl:string
+    :initform "")
+   (hardware_version
+    :reader hardware_version
+    :initarg :hardware_version
+    :type cl:string
+    :initform ""))
+)
+
+(cl:defclass DeviceInfo (<DeviceInfo>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <DeviceInfo>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'DeviceInfo)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name astra_camera-msg:<DeviceInfo> is deprecated: use astra_camera-msg:DeviceInfo instead.")))
+
+(cl:ensure-generic-function 'header-val :lambda-list '(m))
+(cl:defmethod header-val ((m <DeviceInfo>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-msg:header-val is deprecated.  Use astra_camera-msg:header instead.")
+  (header m))
+
+(cl:ensure-generic-function 'name-val :lambda-list '(m))
+(cl:defmethod name-val ((m <DeviceInfo>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-msg:name-val is deprecated.  Use astra_camera-msg:name instead.")
+  (name m))
+
+(cl:ensure-generic-function 'vid-val :lambda-list '(m))
+(cl:defmethod vid-val ((m <DeviceInfo>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-msg:vid-val is deprecated.  Use astra_camera-msg:vid instead.")
+  (vid m))
+
+(cl:ensure-generic-function 'pid-val :lambda-list '(m))
+(cl:defmethod pid-val ((m <DeviceInfo>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-msg:pid-val is deprecated.  Use astra_camera-msg:pid instead.")
+  (pid m))
+
+(cl:ensure-generic-function 'serial_number-val :lambda-list '(m))
+(cl:defmethod serial_number-val ((m <DeviceInfo>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-msg:serial_number-val is deprecated.  Use astra_camera-msg:serial_number instead.")
+  (serial_number m))
+
+(cl:ensure-generic-function 'firmware_version-val :lambda-list '(m))
+(cl:defmethod firmware_version-val ((m <DeviceInfo>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-msg:firmware_version-val is deprecated.  Use astra_camera-msg:firmware_version instead.")
+  (firmware_version m))
+
+(cl:ensure-generic-function 'supported_min_sdk_version-val :lambda-list '(m))
+(cl:defmethod supported_min_sdk_version-val ((m <DeviceInfo>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-msg:supported_min_sdk_version-val is deprecated.  Use astra_camera-msg:supported_min_sdk_version instead.")
+  (supported_min_sdk_version m))
+
+(cl:ensure-generic-function 'hardware_version-val :lambda-list '(m))
+(cl:defmethod hardware_version-val ((m <DeviceInfo>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-msg:hardware_version-val is deprecated.  Use astra_camera-msg:hardware_version instead.")
+  (hardware_version m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <DeviceInfo>) ostream)
+  "Serializes a message object of type '<DeviceInfo>"
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'header) ostream)
+  (cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'name))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'name))
+  (cl:let* ((signed (cl:slot-value msg 'vid)) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 4294967296) signed)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) unsigned) ostream)
+    )
+  (cl:let* ((signed (cl:slot-value msg 'pid)) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 4294967296) signed)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) unsigned) ostream)
+    )
+  (cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'serial_number))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'serial_number))
+  (cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'firmware_version))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'firmware_version))
+  (cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'supported_min_sdk_version))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'supported_min_sdk_version))
+  (cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'hardware_version))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'hardware_version))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <DeviceInfo>) istream)
+  "Deserializes a message object of type '<DeviceInfo>"
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) istream)
+    (cl:let ((__ros_str_len 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'name) (cl:make-string __ros_str_len))
+      (cl:dotimes (__ros_str_idx __ros_str_len msg)
+        (cl:setf (cl:char (cl:slot-value msg 'name) __ros_str_idx) (cl:code-char (cl:read-byte istream)))))
+    (cl:let ((unsigned 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'vid) (cl:if (cl:< unsigned 2147483648) unsigned (cl:- unsigned 4294967296))))
+    (cl:let ((unsigned 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'pid) (cl:if (cl:< unsigned 2147483648) unsigned (cl:- unsigned 4294967296))))
+    (cl:let ((__ros_str_len 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'serial_number) (cl:make-string __ros_str_len))
+      (cl:dotimes (__ros_str_idx __ros_str_len msg)
+        (cl:setf (cl:char (cl:slot-value msg 'serial_number) __ros_str_idx) (cl:code-char (cl:read-byte istream)))))
+    (cl:let ((__ros_str_len 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'firmware_version) (cl:make-string __ros_str_len))
+      (cl:dotimes (__ros_str_idx __ros_str_len msg)
+        (cl:setf (cl:char (cl:slot-value msg 'firmware_version) __ros_str_idx) (cl:code-char (cl:read-byte istream)))))
+    (cl:let ((__ros_str_len 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'supported_min_sdk_version) (cl:make-string __ros_str_len))
+      (cl:dotimes (__ros_str_idx __ros_str_len msg)
+        (cl:setf (cl:char (cl:slot-value msg 'supported_min_sdk_version) __ros_str_idx) (cl:code-char (cl:read-byte istream)))))
+    (cl:let ((__ros_str_len 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'hardware_version) (cl:make-string __ros_str_len))
+      (cl:dotimes (__ros_str_idx __ros_str_len msg)
+        (cl:setf (cl:char (cl:slot-value msg 'hardware_version) __ros_str_idx) (cl:code-char (cl:read-byte istream)))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<DeviceInfo>)))
+  "Returns string type for a message object of type '<DeviceInfo>"
+  "astra_camera/DeviceInfo")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'DeviceInfo)))
+  "Returns string type for a message object of type 'DeviceInfo"
+  "astra_camera/DeviceInfo")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<DeviceInfo>)))
+  "Returns md5sum for a message object of type '<DeviceInfo>"
+  "f8aabac6d632dd2641eb4f5942464a66")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'DeviceInfo)))
+  "Returns md5sum for a message object of type 'DeviceInfo"
+  "f8aabac6d632dd2641eb4f5942464a66")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<DeviceInfo>)))
+  "Returns full string definition for message of type '<DeviceInfo>"
+  (cl:format cl:nil "std_msgs/Header header~%string name~%int32 vid~%int32 pid~%string serial_number~%string firmware_version~%string supported_min_sdk_version~%string hardware_version~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%string frame_id~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'DeviceInfo)))
+  "Returns full string definition for message of type 'DeviceInfo"
+  (cl:format cl:nil "std_msgs/Header header~%string name~%int32 vid~%int32 pid~%string serial_number~%string firmware_version~%string supported_min_sdk_version~%string hardware_version~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%string frame_id~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <DeviceInfo>))
+  (cl:+ 0
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header))
+     4 (cl:length (cl:slot-value msg 'name))
+     4
+     4
+     4 (cl:length (cl:slot-value msg 'serial_number))
+     4 (cl:length (cl:slot-value msg 'firmware_version))
+     4 (cl:length (cl:slot-value msg 'supported_min_sdk_version))
+     4 (cl:length (cl:slot-value msg 'hardware_version))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <DeviceInfo>))
+  "Converts a ROS message object to a list"
+  (cl:list 'DeviceInfo
+    (cl:cons ':header (header msg))
+    (cl:cons ':name (name msg))
+    (cl:cons ':vid (vid msg))
+    (cl:cons ':pid (pid msg))
+    (cl:cons ':serial_number (serial_number msg))
+    (cl:cons ':firmware_version (firmware_version msg))
+    (cl:cons ':supported_min_sdk_version (supported_min_sdk_version msg))
+    (cl:cons ':hardware_version (hardware_version msg))
+))

camera_ws/devel/share/common-lisp/ros/astra_camera/msg/_package_DeviceInfo.lisp

@@ -0,0 +1,18 @@
+(cl:in-package astra_camera-msg)
+(cl:export '(HEADER-VAL
+          HEADER
+          NAME-VAL
+          NAME
+          VID-VAL
+          VID
+          PID-VAL
+          PID
+          SERIAL_NUMBER-VAL
+          SERIAL_NUMBER
+          FIRMWARE_VERSION-VAL
+          FIRMWARE_VERSION
+          SUPPORTED_MIN_SDK_VERSION-VAL
+          SUPPORTED_MIN_SDK_VERSION
+          HARDWARE_VERSION-VAL
+          HARDWARE_VERSION
+))

camera_ws/devel/share/common-lisp/ros/astra_camera/srv/GetBool.lisp

@@ -0,0 +1,156 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package astra_camera-srv)
+
+
+;//! \htmlinclude GetBool-request.msg.html
+
+(cl:defclass <GetBool-request> (roslisp-msg-protocol:ros-message)
+  ()
+)
+
+(cl:defclass GetBool-request (<GetBool-request>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <GetBool-request>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'GetBool-request)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name astra_camera-srv:<GetBool-request> is deprecated: use astra_camera-srv:GetBool-request instead.")))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <GetBool-request>) ostream)
+  "Serializes a message object of type '<GetBool-request>"
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <GetBool-request>) istream)
+  "Deserializes a message object of type '<GetBool-request>"
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<GetBool-request>)))
+  "Returns string type for a service object of type '<GetBool-request>"
+  "astra_camera/GetBoolRequest")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'GetBool-request)))
+  "Returns string type for a service object of type 'GetBool-request"
+  "astra_camera/GetBoolRequest")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<GetBool-request>)))
+  "Returns md5sum for a message object of type '<GetBool-request>"
+  "43f76a855b16e988566e147b692f2fab")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'GetBool-request)))
+  "Returns md5sum for a message object of type 'GetBool-request"
+  "43f76a855b16e988566e147b692f2fab")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<GetBool-request>)))
+  "Returns full string definition for message of type '<GetBool-request>"
+  (cl:format cl:nil "~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'GetBool-request)))
+  "Returns full string definition for message of type 'GetBool-request"
+  (cl:format cl:nil "~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <GetBool-request>))
+  (cl:+ 0
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <GetBool-request>))
+  "Converts a ROS message object to a list"
+  (cl:list 'GetBool-request
+))
+;//! \htmlinclude GetBool-response.msg.html
+
+(cl:defclass <GetBool-response> (roslisp-msg-protocol:ros-message)
+  ((data
+    :reader data
+    :initarg :data
+    :type cl:boolean
+    :initform cl:nil)
+   (success
+    :reader success
+    :initarg :success
+    :type cl:boolean
+    :initform cl:nil)
+   (message
+    :reader message
+    :initarg :message
+    :type cl:string
+    :initform ""))
+)
+
+(cl:defclass GetBool-response (<GetBool-response>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <GetBool-response>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'GetBool-response)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name astra_camera-srv:<GetBool-response> is deprecated: use astra_camera-srv:GetBool-response instead.")))
+
+(cl:ensure-generic-function 'data-val :lambda-list '(m))
+(cl:defmethod data-val ((m <GetBool-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:data-val is deprecated.  Use astra_camera-srv:data instead.")
+  (data m))
+
+(cl:ensure-generic-function 'success-val :lambda-list '(m))
+(cl:defmethod success-val ((m <GetBool-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:success-val is deprecated.  Use astra_camera-srv:success instead.")
+  (success m))
+
+(cl:ensure-generic-function 'message-val :lambda-list '(m))
+(cl:defmethod message-val ((m <GetBool-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:message-val is deprecated.  Use astra_camera-srv:message instead.")
+  (message m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <GetBool-response>) ostream)
+  "Serializes a message object of type '<GetBool-response>"
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'data) 1 0)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'success) 1 0)) ostream)
+  (cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'message))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'message))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <GetBool-response>) istream)
+  "Deserializes a message object of type '<GetBool-response>"
+    (cl:setf (cl:slot-value msg 'data) (cl:not (cl:zerop (cl:read-byte istream))))
+    (cl:setf (cl:slot-value msg 'success) (cl:not (cl:zerop (cl:read-byte istream))))
+    (cl:let ((__ros_str_len 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'message) (cl:make-string __ros_str_len))
+      (cl:dotimes (__ros_str_idx __ros_str_len msg)
+        (cl:setf (cl:char (cl:slot-value msg 'message) __ros_str_idx) (cl:code-char (cl:read-byte istream)))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<GetBool-response>)))
+  "Returns string type for a service object of type '<GetBool-response>"
+  "astra_camera/GetBoolResponse")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'GetBool-response)))
+  "Returns string type for a service object of type 'GetBool-response"
+  "astra_camera/GetBoolResponse")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<GetBool-response>)))
+  "Returns md5sum for a message object of type '<GetBool-response>"
+  "43f76a855b16e988566e147b692f2fab")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'GetBool-response)))
+  "Returns md5sum for a message object of type 'GetBool-response"
+  "43f76a855b16e988566e147b692f2fab")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<GetBool-response>)))
+  "Returns full string definition for message of type '<GetBool-response>"
+  (cl:format cl:nil "bool data~%bool success~%string message~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'GetBool-response)))
+  "Returns full string definition for message of type 'GetBool-response"
+  (cl:format cl:nil "bool data~%bool success~%string message~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <GetBool-response>))
+  (cl:+ 0
+     1
+     1
+     4 (cl:length (cl:slot-value msg 'message))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <GetBool-response>))
+  "Converts a ROS message object to a list"
+  (cl:list 'GetBool-response
+    (cl:cons ':data (data msg))
+    (cl:cons ':success (success msg))
+    (cl:cons ':message (message msg))
+))
+(cl:defmethod roslisp-msg-protocol:service-request-type ((msg (cl:eql 'GetBool)))
+  'GetBool-request)
+(cl:defmethod roslisp-msg-protocol:service-response-type ((msg (cl:eql 'GetBool)))
+  'GetBool-response)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'GetBool)))
+  "Returns string type for a service object of type '<GetBool>"
+  "astra_camera/GetBool")

camera_ws/devel/share/common-lisp/ros/astra_camera/srv/GetCameraInfo.lisp

@@ -0,0 +1,156 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package astra_camera-srv)
+
+
+;//! \htmlinclude GetCameraInfo-request.msg.html
+
+(cl:defclass <GetCameraInfo-request> (roslisp-msg-protocol:ros-message)
+  ()
+)
+
+(cl:defclass GetCameraInfo-request (<GetCameraInfo-request>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <GetCameraInfo-request>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'GetCameraInfo-request)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name astra_camera-srv:<GetCameraInfo-request> is deprecated: use astra_camera-srv:GetCameraInfo-request instead.")))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <GetCameraInfo-request>) ostream)
+  "Serializes a message object of type '<GetCameraInfo-request>"
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <GetCameraInfo-request>) istream)
+  "Deserializes a message object of type '<GetCameraInfo-request>"
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<GetCameraInfo-request>)))
+  "Returns string type for a service object of type '<GetCameraInfo-request>"
+  "astra_camera/GetCameraInfoRequest")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'GetCameraInfo-request)))
+  "Returns string type for a service object of type 'GetCameraInfo-request"
+  "astra_camera/GetCameraInfoRequest")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<GetCameraInfo-request>)))
+  "Returns md5sum for a message object of type '<GetCameraInfo-request>"
+  "aacf7dfed1a501be45f34981291a5579")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'GetCameraInfo-request)))
+  "Returns md5sum for a message object of type 'GetCameraInfo-request"
+  "aacf7dfed1a501be45f34981291a5579")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<GetCameraInfo-request>)))
+  "Returns full string definition for message of type '<GetCameraInfo-request>"
+  (cl:format cl:nil "~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'GetCameraInfo-request)))
+  "Returns full string definition for message of type 'GetCameraInfo-request"
+  (cl:format cl:nil "~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <GetCameraInfo-request>))
+  (cl:+ 0
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <GetCameraInfo-request>))
+  "Converts a ROS message object to a list"
+  (cl:list 'GetCameraInfo-request
+))
+;//! \htmlinclude GetCameraInfo-response.msg.html
+
+(cl:defclass <GetCameraInfo-response> (roslisp-msg-protocol:ros-message)
+  ((info
+    :reader info
+    :initarg :info
+    :type sensor_msgs-msg:CameraInfo
+    :initform (cl:make-instance 'sensor_msgs-msg:CameraInfo))
+   (success
+    :reader success
+    :initarg :success
+    :type cl:boolean
+    :initform cl:nil)
+   (message
+    :reader message
+    :initarg :message
+    :type cl:string
+    :initform ""))
+)
+
+(cl:defclass GetCameraInfo-response (<GetCameraInfo-response>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <GetCameraInfo-response>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'GetCameraInfo-response)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name astra_camera-srv:<GetCameraInfo-response> is deprecated: use astra_camera-srv:GetCameraInfo-response instead.")))
+
+(cl:ensure-generic-function 'info-val :lambda-list '(m))
+(cl:defmethod info-val ((m <GetCameraInfo-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:info-val is deprecated.  Use astra_camera-srv:info instead.")
+  (info m))
+
+(cl:ensure-generic-function 'success-val :lambda-list '(m))
+(cl:defmethod success-val ((m <GetCameraInfo-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:success-val is deprecated.  Use astra_camera-srv:success instead.")
+  (success m))
+
+(cl:ensure-generic-function 'message-val :lambda-list '(m))
+(cl:defmethod message-val ((m <GetCameraInfo-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:message-val is deprecated.  Use astra_camera-srv:message instead.")
+  (message m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <GetCameraInfo-response>) ostream)
+  "Serializes a message object of type '<GetCameraInfo-response>"
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'info) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'success) 1 0)) ostream)
+  (cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'message))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'message))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <GetCameraInfo-response>) istream)
+  "Deserializes a message object of type '<GetCameraInfo-response>"
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'info) istream)
+    (cl:setf (cl:slot-value msg 'success) (cl:not (cl:zerop (cl:read-byte istream))))
+    (cl:let ((__ros_str_len 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'message) (cl:make-string __ros_str_len))
+      (cl:dotimes (__ros_str_idx __ros_str_len msg)
+        (cl:setf (cl:char (cl:slot-value msg 'message) __ros_str_idx) (cl:code-char (cl:read-byte istream)))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<GetCameraInfo-response>)))
+  "Returns string type for a service object of type '<GetCameraInfo-response>"
+  "astra_camera/GetCameraInfoResponse")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'GetCameraInfo-response)))
+  "Returns string type for a service object of type 'GetCameraInfo-response"
+  "astra_camera/GetCameraInfoResponse")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<GetCameraInfo-response>)))
+  "Returns md5sum for a message object of type '<GetCameraInfo-response>"
+  "aacf7dfed1a501be45f34981291a5579")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'GetCameraInfo-response)))
+  "Returns md5sum for a message object of type 'GetCameraInfo-response"
+  "aacf7dfed1a501be45f34981291a5579")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<GetCameraInfo-response>)))
+  "Returns full string definition for message of type '<GetCameraInfo-response>"
+  (cl:format cl:nil "sensor_msgs/CameraInfo info~%bool success~%string message~%~%~%================================================================================~%MSG: sensor_msgs/CameraInfo~%# This message defines meta information for a camera. It should be in a~%# camera namespace on topic \"camera_info\" and accompanied by up to five~%# image topics named:~%#~%#   image_raw - raw data from the camera driver, possibly Bayer encoded~%#   image            - monochrome, distorted~%#   image_color      - color, distorted~%#   image_rect       - monochrome, rectified~%#   image_rect_color - color, rectified~%#~%# The image_pipeline contains packages (image_proc, stereo_image_proc)~%# for producing the four processed image topics from image_raw and~%# camera_info. The meaning of the camera parameters are described in~%# detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.~%#~%# The image_geometry package provides a user-friendly interface to~%# common operations using this meta information. If you want to, e.g.,~%# project a 3d point into image coordinates, we strongly recommend~%# using image_geometry.~%#~%# If the camera is uncalibrated, the matrices D, K, R, P should be left~%# zeroed out. In particular, clients may assume that K[0] == 0.0~%# indicates an uncalibrated camera.~%~%#######################################################################~%#                     Image acquisition info                          #~%#######################################################################~%~%# Time of image acquisition, camera coordinate frame ID~%Header header    # Header timestamp should be acquisition time of image~%                 # Header frame_id should be optical frame of camera~%                 # origin of frame should be optical center of camera~%                 # +x should point to the right in the image~%                 # +y should point down in the image~%                 # +z should point into the plane of the image~%~%~%#######################################################################~%#                      Calibration Parameters                         #~%#######################################################################~%# These are fixed during camera calibration. Their values will be the #~%# same in all messages until the camera is recalibrated. Note that    #~%# self-calibrating systems may \"recalibrate\" frequently.              #~%#                                                                     #~%# The internal parameters can be used to warp a raw (distorted) image #~%# to:                                                                 #~%#   1. An undistorted image (requires D and K)                        #~%#   2. A rectified image (requires D, K, R)                           #~%# The projection matrix P projects 3D points into the rectified image.#~%#######################################################################~%~%# The image dimensions with which the camera was calibrated. Normally~%# this will be the full camera resolution in pixels.~%uint32 height~%uint32 width~%~%# The distortion model used. Supported models are listed in~%# sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a~%# simple model of radial and tangential distortion - is sufficient.~%string distortion_model~%~%# The distortion parameters, size depending on the distortion model.~%# For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).~%float64[] D~%~%# Intrinsic camera matrix for the raw (distorted) images.~%#     [fx  0 cx]~%# K = [ 0 fy cy]~%#     [ 0  0  1]~%# Projects 3D points in the camera coordinate frame to 2D pixel~%# coordinates using the focal lengths (fx, fy) and principal point~%# (cx, cy).~%float64[9]  K # 3x3 row-major matrix~%~%# Rectification matrix (stereo cameras only)~%# A rotation matrix aligning the camera coordinate system to the ideal~%# stereo image plane so that epipolar lines in both stereo images are~%# parallel.~%float64[9]  R # 3x3 row-major matrix~%~%# Projection/camera matrix~%#     [fx'  0  cx' Tx]~%# P = [ 0  fy' cy' Ty]~%#     [ 0   0   1   0]~%# By convention, this matrix specifies the intrinsic (camera) matrix~%#  of the processed (rectified) image. That is, the left 3x3 portion~%#  is the normal camera intrinsic matrix for the rectified image.~%# It projects 3D points in the camera coordinate frame to 2D pixel~%#  coordinates using the focal lengths (fx', fy') and principal point~%#  (cx', cy') - these may differ from the values in K.~%# For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will~%#  also have R = the identity and P[1:3,1:3] = K.~%# For a stereo pair, the fourth column [Tx Ty 0]' is related to the~%#  position of the optical center of the second camera in the first~%#  camera's frame. We assume Tz = 0 so both cameras are in the same~%#  stereo image plane. The first camera always has Tx = Ty = 0. For~%#  the right (second) camera of a horizontal stereo pair, Ty = 0 and~%#  Tx = -fx' * B, where B is the baseline between the cameras.~%# Given a 3D point [X Y Z]', the projection (x, y) of the point onto~%#  the rectified image is given by:~%#  [u v w]' = P * [X Y Z 1]'~%#         x = u / w~%#         y = v / w~%#  This holds for both images of a stereo pair.~%float64[12] P # 3x4 row-major matrix~%~%~%#######################################################################~%#                      Operational Parameters                         #~%#######################################################################~%# These define the image region actually captured by the camera       #~%# driver. Although they affect the geometry of the output image, they #~%# may be changed freely without recalibrating the camera.             #~%#######################################################################~%~%# Binning refers here to any camera setting which combines rectangular~%#  neighborhoods of pixels into larger \"super-pixels.\" It reduces the~%#  resolution of the output image to~%#  (width / binning_x) x (height / binning_y).~%# The default values binning_x = binning_y = 0 is considered the same~%#  as binning_x = binning_y = 1 (no subsampling).~%uint32 binning_x~%uint32 binning_y~%~%# Region of interest (subwindow of full camera resolution), given in~%#  full resolution (unbinned) image coordinates. A particular ROI~%#  always denotes the same window of pixels on the camera sensor,~%#  regardless of binning settings.~%# The default setting of roi (all values 0) is considered the same as~%#  full resolution (roi.width = width, roi.height = height).~%RegionOfInterest roi~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%string frame_id~%~%================================================================================~%MSG: sensor_msgs/RegionOfInterest~%# This message is used to specify a region of interest within an image.~%#~%# When used to specify the ROI setting of the camera when the image was~%# taken, the height and width fields should either match the height and~%# width fields for the associated image; or height = width = 0~%# indicates that the full resolution image was captured.~%~%uint32 x_offset  # Leftmost pixel of the ROI~%                 # (0 if the ROI includes the left edge of the image)~%uint32 y_offset  # Topmost pixel of the ROI~%                 # (0 if the ROI includes the top edge of the image)~%uint32 height    # Height of ROI~%uint32 width     # Width of ROI~%~%# True if a distinct rectified ROI should be calculated from the \"raw\"~%# ROI in this message. Typically this should be False if the full image~%# is captured (ROI not used), and True if a subwindow is captured (ROI~%# used).~%bool do_rectify~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'GetCameraInfo-response)))
+  "Returns full string definition for message of type 'GetCameraInfo-response"
+  (cl:format cl:nil "sensor_msgs/CameraInfo info~%bool success~%string message~%~%~%================================================================================~%MSG: sensor_msgs/CameraInfo~%# This message defines meta information for a camera. It should be in a~%# camera namespace on topic \"camera_info\" and accompanied by up to five~%# image topics named:~%#~%#   image_raw - raw data from the camera driver, possibly Bayer encoded~%#   image            - monochrome, distorted~%#   image_color      - color, distorted~%#   image_rect       - monochrome, rectified~%#   image_rect_color - color, rectified~%#~%# The image_pipeline contains packages (image_proc, stereo_image_proc)~%# for producing the four processed image topics from image_raw and~%# camera_info. The meaning of the camera parameters are described in~%# detail at http://www.ros.org/wiki/image_pipeline/CameraInfo.~%#~%# The image_geometry package provides a user-friendly interface to~%# common operations using this meta information. If you want to, e.g.,~%# project a 3d point into image coordinates, we strongly recommend~%# using image_geometry.~%#~%# If the camera is uncalibrated, the matrices D, K, R, P should be left~%# zeroed out. In particular, clients may assume that K[0] == 0.0~%# indicates an uncalibrated camera.~%~%#######################################################################~%#                     Image acquisition info                          #~%#######################################################################~%~%# Time of image acquisition, camera coordinate frame ID~%Header header    # Header timestamp should be acquisition time of image~%                 # Header frame_id should be optical frame of camera~%                 # origin of frame should be optical center of camera~%                 # +x should point to the right in the image~%                 # +y should point down in the image~%                 # +z should point into the plane of the image~%~%~%#######################################################################~%#                      Calibration Parameters                         #~%#######################################################################~%# These are fixed during camera calibration. Their values will be the #~%# same in all messages until the camera is recalibrated. Note that    #~%# self-calibrating systems may \"recalibrate\" frequently.              #~%#                                                                     #~%# The internal parameters can be used to warp a raw (distorted) image #~%# to:                                                                 #~%#   1. An undistorted image (requires D and K)                        #~%#   2. A rectified image (requires D, K, R)                           #~%# The projection matrix P projects 3D points into the rectified image.#~%#######################################################################~%~%# The image dimensions with which the camera was calibrated. Normally~%# this will be the full camera resolution in pixels.~%uint32 height~%uint32 width~%~%# The distortion model used. Supported models are listed in~%# sensor_msgs/distortion_models.h. For most cameras, \"plumb_bob\" - a~%# simple model of radial and tangential distortion - is sufficient.~%string distortion_model~%~%# The distortion parameters, size depending on the distortion model.~%# For \"plumb_bob\", the 5 parameters are: (k1, k2, t1, t2, k3).~%float64[] D~%~%# Intrinsic camera matrix for the raw (distorted) images.~%#     [fx  0 cx]~%# K = [ 0 fy cy]~%#     [ 0  0  1]~%# Projects 3D points in the camera coordinate frame to 2D pixel~%# coordinates using the focal lengths (fx, fy) and principal point~%# (cx, cy).~%float64[9]  K # 3x3 row-major matrix~%~%# Rectification matrix (stereo cameras only)~%# A rotation matrix aligning the camera coordinate system to the ideal~%# stereo image plane so that epipolar lines in both stereo images are~%# parallel.~%float64[9]  R # 3x3 row-major matrix~%~%# Projection/camera matrix~%#     [fx'  0  cx' Tx]~%# P = [ 0  fy' cy' Ty]~%#     [ 0   0   1   0]~%# By convention, this matrix specifies the intrinsic (camera) matrix~%#  of the processed (rectified) image. That is, the left 3x3 portion~%#  is the normal camera intrinsic matrix for the rectified image.~%# It projects 3D points in the camera coordinate frame to 2D pixel~%#  coordinates using the focal lengths (fx', fy') and principal point~%#  (cx', cy') - these may differ from the values in K.~%# For monocular cameras, Tx = Ty = 0. Normally, monocular cameras will~%#  also have R = the identity and P[1:3,1:3] = K.~%# For a stereo pair, the fourth column [Tx Ty 0]' is related to the~%#  position of the optical center of the second camera in the first~%#  camera's frame. We assume Tz = 0 so both cameras are in the same~%#  stereo image plane. The first camera always has Tx = Ty = 0. For~%#  the right (second) camera of a horizontal stereo pair, Ty = 0 and~%#  Tx = -fx' * B, where B is the baseline between the cameras.~%# Given a 3D point [X Y Z]', the projection (x, y) of the point onto~%#  the rectified image is given by:~%#  [u v w]' = P * [X Y Z 1]'~%#         x = u / w~%#         y = v / w~%#  This holds for both images of a stereo pair.~%float64[12] P # 3x4 row-major matrix~%~%~%#######################################################################~%#                      Operational Parameters                         #~%#######################################################################~%# These define the image region actually captured by the camera       #~%# driver. Although they affect the geometry of the output image, they #~%# may be changed freely without recalibrating the camera.             #~%#######################################################################~%~%# Binning refers here to any camera setting which combines rectangular~%#  neighborhoods of pixels into larger \"super-pixels.\" It reduces the~%#  resolution of the output image to~%#  (width / binning_x) x (height / binning_y).~%# The default values binning_x = binning_y = 0 is considered the same~%#  as binning_x = binning_y = 1 (no subsampling).~%uint32 binning_x~%uint32 binning_y~%~%# Region of interest (subwindow of full camera resolution), given in~%#  full resolution (unbinned) image coordinates. A particular ROI~%#  always denotes the same window of pixels on the camera sensor,~%#  regardless of binning settings.~%# The default setting of roi (all values 0) is considered the same as~%#  full resolution (roi.width = width, roi.height = height).~%RegionOfInterest roi~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%string frame_id~%~%================================================================================~%MSG: sensor_msgs/RegionOfInterest~%# This message is used to specify a region of interest within an image.~%#~%# When used to specify the ROI setting of the camera when the image was~%# taken, the height and width fields should either match the height and~%# width fields for the associated image; or height = width = 0~%# indicates that the full resolution image was captured.~%~%uint32 x_offset  # Leftmost pixel of the ROI~%                 # (0 if the ROI includes the left edge of the image)~%uint32 y_offset  # Topmost pixel of the ROI~%                 # (0 if the ROI includes the top edge of the image)~%uint32 height    # Height of ROI~%uint32 width     # Width of ROI~%~%# True if a distinct rectified ROI should be calculated from the \"raw\"~%# ROI in this message. Typically this should be False if the full image~%# is captured (ROI not used), and True if a subwindow is captured (ROI~%# used).~%bool do_rectify~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <GetCameraInfo-response>))
+  (cl:+ 0
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'info))
+     1
+     4 (cl:length (cl:slot-value msg 'message))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <GetCameraInfo-response>))
+  "Converts a ROS message object to a list"
+  (cl:list 'GetCameraInfo-response
+    (cl:cons ':info (info msg))
+    (cl:cons ':success (success msg))
+    (cl:cons ':message (message msg))
+))
+(cl:defmethod roslisp-msg-protocol:service-request-type ((msg (cl:eql 'GetCameraInfo)))
+  'GetCameraInfo-request)
+(cl:defmethod roslisp-msg-protocol:service-response-type ((msg (cl:eql 'GetCameraInfo)))
+  'GetCameraInfo-response)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'GetCameraInfo)))
+  "Returns string type for a service object of type '<GetCameraInfo>"
+  "astra_camera/GetCameraInfo")

camera_ws/devel/share/common-lisp/ros/astra_camera/srv/GetCameraParams.lisp

@@ -0,0 +1,304 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package astra_camera-srv)
+
+
+;//! \htmlinclude GetCameraParams-request.msg.html
+
+(cl:defclass <GetCameraParams-request> (roslisp-msg-protocol:ros-message)
+  ()
+)
+
+(cl:defclass GetCameraParams-request (<GetCameraParams-request>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <GetCameraParams-request>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'GetCameraParams-request)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name astra_camera-srv:<GetCameraParams-request> is deprecated: use astra_camera-srv:GetCameraParams-request instead.")))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <GetCameraParams-request>) ostream)
+  "Serializes a message object of type '<GetCameraParams-request>"
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <GetCameraParams-request>) istream)
+  "Deserializes a message object of type '<GetCameraParams-request>"
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<GetCameraParams-request>)))
+  "Returns string type for a service object of type '<GetCameraParams-request>"
+  "astra_camera/GetCameraParamsRequest")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'GetCameraParams-request)))
+  "Returns string type for a service object of type 'GetCameraParams-request"
+  "astra_camera/GetCameraParamsRequest")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<GetCameraParams-request>)))
+  "Returns md5sum for a message object of type '<GetCameraParams-request>"
+  "82a0d82977d6826869eb4772054042e0")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'GetCameraParams-request)))
+  "Returns md5sum for a message object of type 'GetCameraParams-request"
+  "82a0d82977d6826869eb4772054042e0")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<GetCameraParams-request>)))
+  "Returns full string definition for message of type '<GetCameraParams-request>"
+  (cl:format cl:nil "~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'GetCameraParams-request)))
+  "Returns full string definition for message of type 'GetCameraParams-request"
+  (cl:format cl:nil "~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <GetCameraParams-request>))
+  (cl:+ 0
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <GetCameraParams-request>))
+  "Converts a ROS message object to a list"
+  (cl:list 'GetCameraParams-request
+))
+;//! \htmlinclude GetCameraParams-response.msg.html
+
+(cl:defclass <GetCameraParams-response> (roslisp-msg-protocol:ros-message)
+  ((l_intr_p
+    :reader l_intr_p
+    :initarg :l_intr_p
+    :type (cl:vector cl:float)
+   :initform (cl:make-array 4 :element-type 'cl:float :initial-element 0.0))
+   (r_intr_p
+    :reader r_intr_p
+    :initarg :r_intr_p
+    :type (cl:vector cl:float)
+   :initform (cl:make-array 4 :element-type 'cl:float :initial-element 0.0))
+   (r2l_r
+    :reader r2l_r
+    :initarg :r2l_r
+    :type (cl:vector cl:float)
+   :initform (cl:make-array 9 :element-type 'cl:float :initial-element 0.0))
+   (r2l_t
+    :reader r2l_t
+    :initarg :r2l_t
+    :type (cl:vector cl:float)
+   :initform (cl:make-array 3 :element-type 'cl:float :initial-element 0.0))
+   (l_k
+    :reader l_k
+    :initarg :l_k
+    :type (cl:vector cl:float)
+   :initform (cl:make-array 5 :element-type 'cl:float :initial-element 0.0))
+   (r_k
+    :reader r_k
+    :initarg :r_k
+    :type (cl:vector cl:float)
+   :initform (cl:make-array 5 :element-type 'cl:float :initial-element 0.0))
+   (success
+    :reader success
+    :initarg :success
+    :type cl:boolean
+    :initform cl:nil)
+   (message
+    :reader message
+    :initarg :message
+    :type cl:string
+    :initform ""))
+)
+
+(cl:defclass GetCameraParams-response (<GetCameraParams-response>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <GetCameraParams-response>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'GetCameraParams-response)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name astra_camera-srv:<GetCameraParams-response> is deprecated: use astra_camera-srv:GetCameraParams-response instead.")))
+
+(cl:ensure-generic-function 'l_intr_p-val :lambda-list '(m))
+(cl:defmethod l_intr_p-val ((m <GetCameraParams-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:l_intr_p-val is deprecated.  Use astra_camera-srv:l_intr_p instead.")
+  (l_intr_p m))
+
+(cl:ensure-generic-function 'r_intr_p-val :lambda-list '(m))
+(cl:defmethod r_intr_p-val ((m <GetCameraParams-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:r_intr_p-val is deprecated.  Use astra_camera-srv:r_intr_p instead.")
+  (r_intr_p m))
+
+(cl:ensure-generic-function 'r2l_r-val :lambda-list '(m))
+(cl:defmethod r2l_r-val ((m <GetCameraParams-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:r2l_r-val is deprecated.  Use astra_camera-srv:r2l_r instead.")
+  (r2l_r m))
+
+(cl:ensure-generic-function 'r2l_t-val :lambda-list '(m))
+(cl:defmethod r2l_t-val ((m <GetCameraParams-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:r2l_t-val is deprecated.  Use astra_camera-srv:r2l_t instead.")
+  (r2l_t m))
+
+(cl:ensure-generic-function 'l_k-val :lambda-list '(m))
+(cl:defmethod l_k-val ((m <GetCameraParams-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:l_k-val is deprecated.  Use astra_camera-srv:l_k instead.")
+  (l_k m))
+
+(cl:ensure-generic-function 'r_k-val :lambda-list '(m))
+(cl:defmethod r_k-val ((m <GetCameraParams-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:r_k-val is deprecated.  Use astra_camera-srv:r_k instead.")
+  (r_k m))
+
+(cl:ensure-generic-function 'success-val :lambda-list '(m))
+(cl:defmethod success-val ((m <GetCameraParams-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:success-val is deprecated.  Use astra_camera-srv:success instead.")
+  (success m))
+
+(cl:ensure-generic-function 'message-val :lambda-list '(m))
+(cl:defmethod message-val ((m <GetCameraParams-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:message-val is deprecated.  Use astra_camera-srv:message instead.")
+  (message m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <GetCameraParams-response>) ostream)
+  "Serializes a message object of type '<GetCameraParams-response>"
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-single-float-bits ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)))
+   (cl:slot-value msg 'l_intr_p))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-single-float-bits ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)))
+   (cl:slot-value msg 'r_intr_p))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-single-float-bits ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)))
+   (cl:slot-value msg 'r2l_r))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-single-float-bits ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)))
+   (cl:slot-value msg 'r2l_t))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-single-float-bits ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)))
+   (cl:slot-value msg 'l_k))
+  (cl:map cl:nil #'(cl:lambda (ele) (cl:let ((bits (roslisp-utils:encode-single-float-bits ele)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)))
+   (cl:slot-value msg 'r_k))
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'success) 1 0)) ostream)
+  (cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'message))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'message))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <GetCameraParams-response>) istream)
+  "Deserializes a message object of type '<GetCameraParams-response>"
+  (cl:setf (cl:slot-value msg 'l_intr_p) (cl:make-array 4))
+  (cl:let ((vals (cl:slot-value msg 'l_intr_p)))
+    (cl:dotimes (i 4)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+    (cl:setf (cl:aref vals i) (roslisp-utils:decode-single-float-bits bits)))))
+  (cl:setf (cl:slot-value msg 'r_intr_p) (cl:make-array 4))
+  (cl:let ((vals (cl:slot-value msg 'r_intr_p)))
+    (cl:dotimes (i 4)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+    (cl:setf (cl:aref vals i) (roslisp-utils:decode-single-float-bits bits)))))
+  (cl:setf (cl:slot-value msg 'r2l_r) (cl:make-array 9))
+  (cl:let ((vals (cl:slot-value msg 'r2l_r)))
+    (cl:dotimes (i 9)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+    (cl:setf (cl:aref vals i) (roslisp-utils:decode-single-float-bits bits)))))
+  (cl:setf (cl:slot-value msg 'r2l_t) (cl:make-array 3))
+  (cl:let ((vals (cl:slot-value msg 'r2l_t)))
+    (cl:dotimes (i 3)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+    (cl:setf (cl:aref vals i) (roslisp-utils:decode-single-float-bits bits)))))
+  (cl:setf (cl:slot-value msg 'l_k) (cl:make-array 5))
+  (cl:let ((vals (cl:slot-value msg 'l_k)))
+    (cl:dotimes (i 5)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+    (cl:setf (cl:aref vals i) (roslisp-utils:decode-single-float-bits bits)))))
+  (cl:setf (cl:slot-value msg 'r_k) (cl:make-array 5))
+  (cl:let ((vals (cl:slot-value msg 'r_k)))
+    (cl:dotimes (i 5)
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+    (cl:setf (cl:aref vals i) (roslisp-utils:decode-single-float-bits bits)))))
+    (cl:setf (cl:slot-value msg 'success) (cl:not (cl:zerop (cl:read-byte istream))))
+    (cl:let ((__ros_str_len 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'message) (cl:make-string __ros_str_len))
+      (cl:dotimes (__ros_str_idx __ros_str_len msg)
+        (cl:setf (cl:char (cl:slot-value msg 'message) __ros_str_idx) (cl:code-char (cl:read-byte istream)))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<GetCameraParams-response>)))
+  "Returns string type for a service object of type '<GetCameraParams-response>"
+  "astra_camera/GetCameraParamsResponse")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'GetCameraParams-response)))
+  "Returns string type for a service object of type 'GetCameraParams-response"
+  "astra_camera/GetCameraParamsResponse")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<GetCameraParams-response>)))
+  "Returns md5sum for a message object of type '<GetCameraParams-response>"
+  "82a0d82977d6826869eb4772054042e0")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'GetCameraParams-response)))
+  "Returns md5sum for a message object of type 'GetCameraParams-response"
+  "82a0d82977d6826869eb4772054042e0")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<GetCameraParams-response>)))
+  "Returns full string definition for message of type '<GetCameraParams-response>"
+  (cl:format cl:nil "float32[4] l_intr_p~%float32[4] r_intr_p~%float32[9] r2l_r~%float32[3] r2l_t~%float32[5] l_k~%float32[5] r_k~%bool success~%string message~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'GetCameraParams-response)))
+  "Returns full string definition for message of type 'GetCameraParams-response"
+  (cl:format cl:nil "float32[4] l_intr_p~%float32[4] r_intr_p~%float32[9] r2l_r~%float32[3] r2l_t~%float32[5] l_k~%float32[5] r_k~%bool success~%string message~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <GetCameraParams-response>))
+  (cl:+ 0
+     0 (cl:reduce #'cl:+ (cl:slot-value msg 'l_intr_p) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4)))
+     0 (cl:reduce #'cl:+ (cl:slot-value msg 'r_intr_p) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4)))
+     0 (cl:reduce #'cl:+ (cl:slot-value msg 'r2l_r) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4)))
+     0 (cl:reduce #'cl:+ (cl:slot-value msg 'r2l_t) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4)))
+     0 (cl:reduce #'cl:+ (cl:slot-value msg 'l_k) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4)))
+     0 (cl:reduce #'cl:+ (cl:slot-value msg 'r_k) :key #'(cl:lambda (ele) (cl:declare (cl:ignorable ele)) (cl:+ 4)))
+     1
+     4 (cl:length (cl:slot-value msg 'message))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <GetCameraParams-response>))
+  "Converts a ROS message object to a list"
+  (cl:list 'GetCameraParams-response
+    (cl:cons ':l_intr_p (l_intr_p msg))
+    (cl:cons ':r_intr_p (r_intr_p msg))
+    (cl:cons ':r2l_r (r2l_r msg))
+    (cl:cons ':r2l_t (r2l_t msg))
+    (cl:cons ':l_k (l_k msg))
+    (cl:cons ':r_k (r_k msg))
+    (cl:cons ':success (success msg))
+    (cl:cons ':message (message msg))
+))
+(cl:defmethod roslisp-msg-protocol:service-request-type ((msg (cl:eql 'GetCameraParams)))
+  'GetCameraParams-request)
+(cl:defmethod roslisp-msg-protocol:service-response-type ((msg (cl:eql 'GetCameraParams)))
+  'GetCameraParams-response)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'GetCameraParams)))
+  "Returns string type for a service object of type '<GetCameraParams>"
+  "astra_camera/GetCameraParams")

camera_ws/devel/share/common-lisp/ros/astra_camera/srv/GetDeviceInfo.lisp

@@ -0,0 +1,156 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package astra_camera-srv)
+
+
+;//! \htmlinclude GetDeviceInfo-request.msg.html
+
+(cl:defclass <GetDeviceInfo-request> (roslisp-msg-protocol:ros-message)
+  ()
+)
+
+(cl:defclass GetDeviceInfo-request (<GetDeviceInfo-request>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <GetDeviceInfo-request>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'GetDeviceInfo-request)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name astra_camera-srv:<GetDeviceInfo-request> is deprecated: use astra_camera-srv:GetDeviceInfo-request instead.")))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <GetDeviceInfo-request>) ostream)
+  "Serializes a message object of type '<GetDeviceInfo-request>"
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <GetDeviceInfo-request>) istream)
+  "Deserializes a message object of type '<GetDeviceInfo-request>"
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<GetDeviceInfo-request>)))
+  "Returns string type for a service object of type '<GetDeviceInfo-request>"
+  "astra_camera/GetDeviceInfoRequest")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'GetDeviceInfo-request)))
+  "Returns string type for a service object of type 'GetDeviceInfo-request"
+  "astra_camera/GetDeviceInfoRequest")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<GetDeviceInfo-request>)))
+  "Returns md5sum for a message object of type '<GetDeviceInfo-request>"
+  "1e369ba84c0330473501a0820257661a")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'GetDeviceInfo-request)))
+  "Returns md5sum for a message object of type 'GetDeviceInfo-request"
+  "1e369ba84c0330473501a0820257661a")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<GetDeviceInfo-request>)))
+  "Returns full string definition for message of type '<GetDeviceInfo-request>"
+  (cl:format cl:nil "~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'GetDeviceInfo-request)))
+  "Returns full string definition for message of type 'GetDeviceInfo-request"
+  (cl:format cl:nil "~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <GetDeviceInfo-request>))
+  (cl:+ 0
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <GetDeviceInfo-request>))
+  "Converts a ROS message object to a list"
+  (cl:list 'GetDeviceInfo-request
+))
+;//! \htmlinclude GetDeviceInfo-response.msg.html
+
+(cl:defclass <GetDeviceInfo-response> (roslisp-msg-protocol:ros-message)
+  ((info
+    :reader info
+    :initarg :info
+    :type astra_camera-msg:DeviceInfo
+    :initform (cl:make-instance 'astra_camera-msg:DeviceInfo))
+   (success
+    :reader success
+    :initarg :success
+    :type cl:boolean
+    :initform cl:nil)
+   (message
+    :reader message
+    :initarg :message
+    :type cl:string
+    :initform ""))
+)
+
+(cl:defclass GetDeviceInfo-response (<GetDeviceInfo-response>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <GetDeviceInfo-response>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'GetDeviceInfo-response)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name astra_camera-srv:<GetDeviceInfo-response> is deprecated: use astra_camera-srv:GetDeviceInfo-response instead.")))
+
+(cl:ensure-generic-function 'info-val :lambda-list '(m))
+(cl:defmethod info-val ((m <GetDeviceInfo-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:info-val is deprecated.  Use astra_camera-srv:info instead.")
+  (info m))
+
+(cl:ensure-generic-function 'success-val :lambda-list '(m))
+(cl:defmethod success-val ((m <GetDeviceInfo-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:success-val is deprecated.  Use astra_camera-srv:success instead.")
+  (success m))
+
+(cl:ensure-generic-function 'message-val :lambda-list '(m))
+(cl:defmethod message-val ((m <GetDeviceInfo-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:message-val is deprecated.  Use astra_camera-srv:message instead.")
+  (message m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <GetDeviceInfo-response>) ostream)
+  "Serializes a message object of type '<GetDeviceInfo-response>"
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'info) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'success) 1 0)) ostream)
+  (cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'message))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'message))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <GetDeviceInfo-response>) istream)
+  "Deserializes a message object of type '<GetDeviceInfo-response>"
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'info) istream)
+    (cl:setf (cl:slot-value msg 'success) (cl:not (cl:zerop (cl:read-byte istream))))
+    (cl:let ((__ros_str_len 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'message) (cl:make-string __ros_str_len))
+      (cl:dotimes (__ros_str_idx __ros_str_len msg)
+        (cl:setf (cl:char (cl:slot-value msg 'message) __ros_str_idx) (cl:code-char (cl:read-byte istream)))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<GetDeviceInfo-response>)))
+  "Returns string type for a service object of type '<GetDeviceInfo-response>"
+  "astra_camera/GetDeviceInfoResponse")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'GetDeviceInfo-response)))
+  "Returns string type for a service object of type 'GetDeviceInfo-response"
+  "astra_camera/GetDeviceInfoResponse")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<GetDeviceInfo-response>)))
+  "Returns md5sum for a message object of type '<GetDeviceInfo-response>"
+  "1e369ba84c0330473501a0820257661a")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'GetDeviceInfo-response)))
+  "Returns md5sum for a message object of type 'GetDeviceInfo-response"
+  "1e369ba84c0330473501a0820257661a")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<GetDeviceInfo-response>)))
+  "Returns full string definition for message of type '<GetDeviceInfo-response>"
+  (cl:format cl:nil "DeviceInfo info~%bool success~%string message~%~%~%================================================================================~%MSG: astra_camera/DeviceInfo~%std_msgs/Header header~%string name~%int32 vid~%int32 pid~%string serial_number~%string firmware_version~%string supported_min_sdk_version~%string hardware_version~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%string frame_id~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'GetDeviceInfo-response)))
+  "Returns full string definition for message of type 'GetDeviceInfo-response"
+  (cl:format cl:nil "DeviceInfo info~%bool success~%string message~%~%~%================================================================================~%MSG: astra_camera/DeviceInfo~%std_msgs/Header header~%string name~%int32 vid~%int32 pid~%string serial_number~%string firmware_version~%string supported_min_sdk_version~%string hardware_version~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')~%# * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%string frame_id~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <GetDeviceInfo-response>))
+  (cl:+ 0
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'info))
+     1
+     4 (cl:length (cl:slot-value msg 'message))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <GetDeviceInfo-response>))
+  "Converts a ROS message object to a list"
+  (cl:list 'GetDeviceInfo-response
+    (cl:cons ':info (info msg))
+    (cl:cons ':success (success msg))
+    (cl:cons ':message (message msg))
+))
+(cl:defmethod roslisp-msg-protocol:service-request-type ((msg (cl:eql 'GetDeviceInfo)))
+  'GetDeviceInfo-request)
+(cl:defmethod roslisp-msg-protocol:service-response-type ((msg (cl:eql 'GetDeviceInfo)))
+  'GetDeviceInfo-response)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'GetDeviceInfo)))
+  "Returns string type for a service object of type '<GetDeviceInfo>"
+  "astra_camera/GetDeviceInfo")

camera_ws/devel/share/common-lisp/ros/astra_camera/srv/GetDouble.lisp

@@ -0,0 +1,173 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package astra_camera-srv)
+
+
+;//! \htmlinclude GetDouble-request.msg.html
+
+(cl:defclass <GetDouble-request> (roslisp-msg-protocol:ros-message)
+  ()
+)
+
+(cl:defclass GetDouble-request (<GetDouble-request>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <GetDouble-request>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'GetDouble-request)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name astra_camera-srv:<GetDouble-request> is deprecated: use astra_camera-srv:GetDouble-request instead.")))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <GetDouble-request>) ostream)
+  "Serializes a message object of type '<GetDouble-request>"
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <GetDouble-request>) istream)
+  "Deserializes a message object of type '<GetDouble-request>"
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<GetDouble-request>)))
+  "Returns string type for a service object of type '<GetDouble-request>"
+  "astra_camera/GetDoubleRequest")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'GetDouble-request)))
+  "Returns string type for a service object of type 'GetDouble-request"
+  "astra_camera/GetDoubleRequest")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<GetDouble-request>)))
+  "Returns md5sum for a message object of type '<GetDouble-request>"
+  "edb830bb55b38159c2bb5a997bcb994d")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'GetDouble-request)))
+  "Returns md5sum for a message object of type 'GetDouble-request"
+  "edb830bb55b38159c2bb5a997bcb994d")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<GetDouble-request>)))
+  "Returns full string definition for message of type '<GetDouble-request>"
+  (cl:format cl:nil "~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'GetDouble-request)))
+  "Returns full string definition for message of type 'GetDouble-request"
+  (cl:format cl:nil "~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <GetDouble-request>))
+  (cl:+ 0
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <GetDouble-request>))
+  "Converts a ROS message object to a list"
+  (cl:list 'GetDouble-request
+))
+;//! \htmlinclude GetDouble-response.msg.html
+
+(cl:defclass <GetDouble-response> (roslisp-msg-protocol:ros-message)
+  ((data
+    :reader data
+    :initarg :data
+    :type cl:float
+    :initform 0.0)
+   (success
+    :reader success
+    :initarg :success
+    :type cl:boolean
+    :initform cl:nil)
+   (message
+    :reader message
+    :initarg :message
+    :type cl:string
+    :initform ""))
+)
+
+(cl:defclass GetDouble-response (<GetDouble-response>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <GetDouble-response>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'GetDouble-response)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name astra_camera-srv:<GetDouble-response> is deprecated: use astra_camera-srv:GetDouble-response instead.")))
+
+(cl:ensure-generic-function 'data-val :lambda-list '(m))
+(cl:defmethod data-val ((m <GetDouble-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:data-val is deprecated.  Use astra_camera-srv:data instead.")
+  (data m))
+
+(cl:ensure-generic-function 'success-val :lambda-list '(m))
+(cl:defmethod success-val ((m <GetDouble-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:success-val is deprecated.  Use astra_camera-srv:success instead.")
+  (success m))
+
+(cl:ensure-generic-function 'message-val :lambda-list '(m))
+(cl:defmethod message-val ((m <GetDouble-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:message-val is deprecated.  Use astra_camera-srv:message instead.")
+  (message m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <GetDouble-response>) ostream)
+  "Serializes a message object of type '<GetDouble-response>"
+  (cl:let ((bits (roslisp-utils:encode-double-float-bits (cl:slot-value msg 'data))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 32) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 40) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 48) bits) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 56) bits) ostream))
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'success) 1 0)) ostream)
+  (cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'message))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'message))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <GetDouble-response>) istream)
+  "Deserializes a message object of type '<GetDouble-response>"
+    (cl:let ((bits 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 32) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 40) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 48) bits) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 56) bits) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'data) (roslisp-utils:decode-double-float-bits bits)))
+    (cl:setf (cl:slot-value msg 'success) (cl:not (cl:zerop (cl:read-byte istream))))
+    (cl:let ((__ros_str_len 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'message) (cl:make-string __ros_str_len))
+      (cl:dotimes (__ros_str_idx __ros_str_len msg)
+        (cl:setf (cl:char (cl:slot-value msg 'message) __ros_str_idx) (cl:code-char (cl:read-byte istream)))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<GetDouble-response>)))
+  "Returns string type for a service object of type '<GetDouble-response>"
+  "astra_camera/GetDoubleResponse")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'GetDouble-response)))
+  "Returns string type for a service object of type 'GetDouble-response"
+  "astra_camera/GetDoubleResponse")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<GetDouble-response>)))
+  "Returns md5sum for a message object of type '<GetDouble-response>"
+  "edb830bb55b38159c2bb5a997bcb994d")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'GetDouble-response)))
+  "Returns md5sum for a message object of type 'GetDouble-response"
+  "edb830bb55b38159c2bb5a997bcb994d")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<GetDouble-response>)))
+  "Returns full string definition for message of type '<GetDouble-response>"
+  (cl:format cl:nil "float64 data~%bool success~%string message~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'GetDouble-response)))
+  "Returns full string definition for message of type 'GetDouble-response"
+  (cl:format cl:nil "float64 data~%bool success~%string message~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <GetDouble-response>))
+  (cl:+ 0
+     8
+     1
+     4 (cl:length (cl:slot-value msg 'message))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <GetDouble-response>))
+  "Converts a ROS message object to a list"
+  (cl:list 'GetDouble-response
+    (cl:cons ':data (data msg))
+    (cl:cons ':success (success msg))
+    (cl:cons ':message (message msg))
+))
+(cl:defmethod roslisp-msg-protocol:service-request-type ((msg (cl:eql 'GetDouble)))
+  'GetDouble-request)
+(cl:defmethod roslisp-msg-protocol:service-response-type ((msg (cl:eql 'GetDouble)))
+  'GetDouble-response)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'GetDouble)))
+  "Returns string type for a service object of type '<GetDouble>"
+  "astra_camera/GetDouble")

camera_ws/devel/share/common-lisp/ros/astra_camera/srv/GetInt32.lisp

@@ -0,0 +1,166 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package astra_camera-srv)
+
+
+;//! \htmlinclude GetInt32-request.msg.html
+
+(cl:defclass <GetInt32-request> (roslisp-msg-protocol:ros-message)
+  ()
+)
+
+(cl:defclass GetInt32-request (<GetInt32-request>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <GetInt32-request>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'GetInt32-request)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name astra_camera-srv:<GetInt32-request> is deprecated: use astra_camera-srv:GetInt32-request instead.")))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <GetInt32-request>) ostream)
+  "Serializes a message object of type '<GetInt32-request>"
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <GetInt32-request>) istream)
+  "Deserializes a message object of type '<GetInt32-request>"
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<GetInt32-request>)))
+  "Returns string type for a service object of type '<GetInt32-request>"
+  "astra_camera/GetInt32Request")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'GetInt32-request)))
+  "Returns string type for a service object of type 'GetInt32-request"
+  "astra_camera/GetInt32Request")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<GetInt32-request>)))
+  "Returns md5sum for a message object of type '<GetInt32-request>"
+  "1e06c77f31583d55c01571a573d75b9f")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'GetInt32-request)))
+  "Returns md5sum for a message object of type 'GetInt32-request"
+  "1e06c77f31583d55c01571a573d75b9f")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<GetInt32-request>)))
+  "Returns full string definition for message of type '<GetInt32-request>"
+  (cl:format cl:nil "~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'GetInt32-request)))
+  "Returns full string definition for message of type 'GetInt32-request"
+  (cl:format cl:nil "~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <GetInt32-request>))
+  (cl:+ 0
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <GetInt32-request>))
+  "Converts a ROS message object to a list"
+  (cl:list 'GetInt32-request
+))
+;//! \htmlinclude GetInt32-response.msg.html
+
+(cl:defclass <GetInt32-response> (roslisp-msg-protocol:ros-message)
+  ((data
+    :reader data
+    :initarg :data
+    :type cl:integer
+    :initform 0)
+   (success
+    :reader success
+    :initarg :success
+    :type cl:boolean
+    :initform cl:nil)
+   (message
+    :reader message
+    :initarg :message
+    :type cl:string
+    :initform ""))
+)
+
+(cl:defclass GetInt32-response (<GetInt32-response>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <GetInt32-response>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'GetInt32-response)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name astra_camera-srv:<GetInt32-response> is deprecated: use astra_camera-srv:GetInt32-response instead.")))
+
+(cl:ensure-generic-function 'data-val :lambda-list '(m))
+(cl:defmethod data-val ((m <GetInt32-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:data-val is deprecated.  Use astra_camera-srv:data instead.")
+  (data m))
+
+(cl:ensure-generic-function 'success-val :lambda-list '(m))
+(cl:defmethod success-val ((m <GetInt32-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:success-val is deprecated.  Use astra_camera-srv:success instead.")
+  (success m))
+
+(cl:ensure-generic-function 'message-val :lambda-list '(m))
+(cl:defmethod message-val ((m <GetInt32-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:message-val is deprecated.  Use astra_camera-srv:message instead.")
+  (message m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <GetInt32-response>) ostream)
+  "Serializes a message object of type '<GetInt32-response>"
+  (cl:let* ((signed (cl:slot-value msg 'data)) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 4294967296) signed)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) unsigned) ostream)
+    )
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'success) 1 0)) ostream)
+  (cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'message))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'message))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <GetInt32-response>) istream)
+  "Deserializes a message object of type '<GetInt32-response>"
+    (cl:let ((unsigned 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'data) (cl:if (cl:< unsigned 2147483648) unsigned (cl:- unsigned 4294967296))))
+    (cl:setf (cl:slot-value msg 'success) (cl:not (cl:zerop (cl:read-byte istream))))
+    (cl:let ((__ros_str_len 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'message) (cl:make-string __ros_str_len))
+      (cl:dotimes (__ros_str_idx __ros_str_len msg)
+        (cl:setf (cl:char (cl:slot-value msg 'message) __ros_str_idx) (cl:code-char (cl:read-byte istream)))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<GetInt32-response>)))
+  "Returns string type for a service object of type '<GetInt32-response>"
+  "astra_camera/GetInt32Response")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'GetInt32-response)))
+  "Returns string type for a service object of type 'GetInt32-response"
+  "astra_camera/GetInt32Response")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<GetInt32-response>)))
+  "Returns md5sum for a message object of type '<GetInt32-response>"
+  "1e06c77f31583d55c01571a573d75b9f")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'GetInt32-response)))
+  "Returns md5sum for a message object of type 'GetInt32-response"
+  "1e06c77f31583d55c01571a573d75b9f")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<GetInt32-response>)))
+  "Returns full string definition for message of type '<GetInt32-response>"
+  (cl:format cl:nil "int32 data~%bool success~%string message~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'GetInt32-response)))
+  "Returns full string definition for message of type 'GetInt32-response"
+  (cl:format cl:nil "int32 data~%bool success~%string message~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <GetInt32-response>))
+  (cl:+ 0
+     4
+     1
+     4 (cl:length (cl:slot-value msg 'message))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <GetInt32-response>))
+  "Converts a ROS message object to a list"
+  (cl:list 'GetInt32-response
+    (cl:cons ':data (data msg))
+    (cl:cons ':success (success msg))
+    (cl:cons ':message (message msg))
+))
+(cl:defmethod roslisp-msg-protocol:service-request-type ((msg (cl:eql 'GetInt32)))
+  'GetInt32-request)
+(cl:defmethod roslisp-msg-protocol:service-response-type ((msg (cl:eql 'GetInt32)))
+  'GetInt32-response)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'GetInt32)))
+  "Returns string type for a service object of type '<GetInt32>"
+  "astra_camera/GetInt32")

camera_ws/devel/share/common-lisp/ros/astra_camera/srv/SetInt32.lisp

@@ -0,0 +1,165 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package astra_camera-srv)
+
+
+;//! \htmlinclude SetInt32-request.msg.html
+
+(cl:defclass <SetInt32-request> (roslisp-msg-protocol:ros-message)
+  ((data
+    :reader data
+    :initarg :data
+    :type cl:integer
+    :initform 0))
+)
+
+(cl:defclass SetInt32-request (<SetInt32-request>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <SetInt32-request>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'SetInt32-request)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name astra_camera-srv:<SetInt32-request> is deprecated: use astra_camera-srv:SetInt32-request instead.")))
+
+(cl:ensure-generic-function 'data-val :lambda-list '(m))
+(cl:defmethod data-val ((m <SetInt32-request>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:data-val is deprecated.  Use astra_camera-srv:data instead.")
+  (data m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <SetInt32-request>) ostream)
+  "Serializes a message object of type '<SetInt32-request>"
+  (cl:let* ((signed (cl:slot-value msg 'data)) (unsigned (cl:if (cl:< signed 0) (cl:+ signed 4294967296) signed)))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) unsigned) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) unsigned) ostream)
+    )
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <SetInt32-request>) istream)
+  "Deserializes a message object of type '<SetInt32-request>"
+    (cl:let ((unsigned 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) unsigned) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'data) (cl:if (cl:< unsigned 2147483648) unsigned (cl:- unsigned 4294967296))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<SetInt32-request>)))
+  "Returns string type for a service object of type '<SetInt32-request>"
+  "astra_camera/SetInt32Request")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'SetInt32-request)))
+  "Returns string type for a service object of type 'SetInt32-request"
+  "astra_camera/SetInt32Request")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<SetInt32-request>)))
+  "Returns md5sum for a message object of type '<SetInt32-request>"
+  "41a6318c88ca9d75d7a585e2aa4ca6ea")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'SetInt32-request)))
+  "Returns md5sum for a message object of type 'SetInt32-request"
+  "41a6318c88ca9d75d7a585e2aa4ca6ea")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<SetInt32-request>)))
+  "Returns full string definition for message of type '<SetInt32-request>"
+  (cl:format cl:nil "int32 data~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'SetInt32-request)))
+  "Returns full string definition for message of type 'SetInt32-request"
+  (cl:format cl:nil "int32 data~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <SetInt32-request>))
+  (cl:+ 0
+     4
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <SetInt32-request>))
+  "Converts a ROS message object to a list"
+  (cl:list 'SetInt32-request
+    (cl:cons ':data (data msg))
+))
+;//! \htmlinclude SetInt32-response.msg.html
+
+(cl:defclass <SetInt32-response> (roslisp-msg-protocol:ros-message)
+  ((success
+    :reader success
+    :initarg :success
+    :type cl:boolean
+    :initform cl:nil)
+   (message
+    :reader message
+    :initarg :message
+    :type cl:string
+    :initform ""))
+)
+
+(cl:defclass SetInt32-response (<SetInt32-response>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <SetInt32-response>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'SetInt32-response)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name astra_camera-srv:<SetInt32-response> is deprecated: use astra_camera-srv:SetInt32-response instead.")))
+
+(cl:ensure-generic-function 'success-val :lambda-list '(m))
+(cl:defmethod success-val ((m <SetInt32-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:success-val is deprecated.  Use astra_camera-srv:success instead.")
+  (success m))
+
+(cl:ensure-generic-function 'message-val :lambda-list '(m))
+(cl:defmethod message-val ((m <SetInt32-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:message-val is deprecated.  Use astra_camera-srv:message instead.")
+  (message m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <SetInt32-response>) ostream)
+  "Serializes a message object of type '<SetInt32-response>"
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'success) 1 0)) ostream)
+  (cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'message))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'message))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <SetInt32-response>) istream)
+  "Deserializes a message object of type '<SetInt32-response>"
+    (cl:setf (cl:slot-value msg 'success) (cl:not (cl:zerop (cl:read-byte istream))))
+    (cl:let ((__ros_str_len 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'message) (cl:make-string __ros_str_len))
+      (cl:dotimes (__ros_str_idx __ros_str_len msg)
+        (cl:setf (cl:char (cl:slot-value msg 'message) __ros_str_idx) (cl:code-char (cl:read-byte istream)))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<SetInt32-response>)))
+  "Returns string type for a service object of type '<SetInt32-response>"
+  "astra_camera/SetInt32Response")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'SetInt32-response)))
+  "Returns string type for a service object of type 'SetInt32-response"
+  "astra_camera/SetInt32Response")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<SetInt32-response>)))
+  "Returns md5sum for a message object of type '<SetInt32-response>"
+  "41a6318c88ca9d75d7a585e2aa4ca6ea")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'SetInt32-response)))
+  "Returns md5sum for a message object of type 'SetInt32-response"
+  "41a6318c88ca9d75d7a585e2aa4ca6ea")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<SetInt32-response>)))
+  "Returns full string definition for message of type '<SetInt32-response>"
+  (cl:format cl:nil "bool success~%string message~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'SetInt32-response)))
+  "Returns full string definition for message of type 'SetInt32-response"
+  (cl:format cl:nil "bool success~%string message~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <SetInt32-response>))
+  (cl:+ 0
+     1
+     4 (cl:length (cl:slot-value msg 'message))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <SetInt32-response>))
+  "Converts a ROS message object to a list"
+  (cl:list 'SetInt32-response
+    (cl:cons ':success (success msg))
+    (cl:cons ':message (message msg))
+))
+(cl:defmethod roslisp-msg-protocol:service-request-type ((msg (cl:eql 'SetInt32)))
+  'SetInt32-request)
+(cl:defmethod roslisp-msg-protocol:service-response-type ((msg (cl:eql 'SetInt32)))
+  'SetInt32-response)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'SetInt32)))
+  "Returns string type for a service object of type '<SetInt32>"
+  "astra_camera/SetInt32")

camera_ws/devel/share/common-lisp/ros/astra_camera/srv/SetString.lisp

@@ -0,0 +1,167 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package astra_camera-srv)
+
+
+;//! \htmlinclude SetString-request.msg.html
+
+(cl:defclass <SetString-request> (roslisp-msg-protocol:ros-message)
+  ((data
+    :reader data
+    :initarg :data
+    :type cl:string
+    :initform ""))
+)
+
+(cl:defclass SetString-request (<SetString-request>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <SetString-request>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'SetString-request)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name astra_camera-srv:<SetString-request> is deprecated: use astra_camera-srv:SetString-request instead.")))
+
+(cl:ensure-generic-function 'data-val :lambda-list '(m))
+(cl:defmethod data-val ((m <SetString-request>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:data-val is deprecated.  Use astra_camera-srv:data instead.")
+  (data m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <SetString-request>) ostream)
+  "Serializes a message object of type '<SetString-request>"
+  (cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'data))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'data))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <SetString-request>) istream)
+  "Deserializes a message object of type '<SetString-request>"
+    (cl:let ((__ros_str_len 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'data) (cl:make-string __ros_str_len))
+      (cl:dotimes (__ros_str_idx __ros_str_len msg)
+        (cl:setf (cl:char (cl:slot-value msg 'data) __ros_str_idx) (cl:code-char (cl:read-byte istream)))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<SetString-request>)))
+  "Returns string type for a service object of type '<SetString-request>"
+  "astra_camera/SetStringRequest")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'SetString-request)))
+  "Returns string type for a service object of type 'SetString-request"
+  "astra_camera/SetStringRequest")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<SetString-request>)))
+  "Returns md5sum for a message object of type '<SetString-request>"
+  "546971982e3fbbd5a41e60fb6432e357")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'SetString-request)))
+  "Returns md5sum for a message object of type 'SetString-request"
+  "546971982e3fbbd5a41e60fb6432e357")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<SetString-request>)))
+  "Returns full string definition for message of type '<SetString-request>"
+  (cl:format cl:nil "string data~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'SetString-request)))
+  "Returns full string definition for message of type 'SetString-request"
+  (cl:format cl:nil "string data~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <SetString-request>))
+  (cl:+ 0
+     4 (cl:length (cl:slot-value msg 'data))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <SetString-request>))
+  "Converts a ROS message object to a list"
+  (cl:list 'SetString-request
+    (cl:cons ':data (data msg))
+))
+;//! \htmlinclude SetString-response.msg.html
+
+(cl:defclass <SetString-response> (roslisp-msg-protocol:ros-message)
+  ((success
+    :reader success
+    :initarg :success
+    :type cl:boolean
+    :initform cl:nil)
+   (message
+    :reader message
+    :initarg :message
+    :type cl:string
+    :initform ""))
+)
+
+(cl:defclass SetString-response (<SetString-response>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <SetString-response>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'SetString-response)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name astra_camera-srv:<SetString-response> is deprecated: use astra_camera-srv:SetString-response instead.")))
+
+(cl:ensure-generic-function 'success-val :lambda-list '(m))
+(cl:defmethod success-val ((m <SetString-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:success-val is deprecated.  Use astra_camera-srv:success instead.")
+  (success m))
+
+(cl:ensure-generic-function 'message-val :lambda-list '(m))
+(cl:defmethod message-val ((m <SetString-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader astra_camera-srv:message-val is deprecated.  Use astra_camera-srv:message instead.")
+  (message m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <SetString-response>) ostream)
+  "Serializes a message object of type '<SetString-response>"
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'success) 1 0)) ostream)
+  (cl:let ((__ros_str_len (cl:length (cl:slot-value msg 'message))))
+    (cl:write-byte (cl:ldb (cl:byte 8 0) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 8) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 16) __ros_str_len) ostream)
+    (cl:write-byte (cl:ldb (cl:byte 8 24) __ros_str_len) ostream))
+  (cl:map cl:nil #'(cl:lambda (c) (cl:write-byte (cl:char-code c) ostream)) (cl:slot-value msg 'message))
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <SetString-response>) istream)
+  "Deserializes a message object of type '<SetString-response>"
+    (cl:setf (cl:slot-value msg 'success) (cl:not (cl:zerop (cl:read-byte istream))))
+    (cl:let ((__ros_str_len 0))
+      (cl:setf (cl:ldb (cl:byte 8 0) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 8) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 16) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:ldb (cl:byte 8 24) __ros_str_len) (cl:read-byte istream))
+      (cl:setf (cl:slot-value msg 'message) (cl:make-string __ros_str_len))
+      (cl:dotimes (__ros_str_idx __ros_str_len msg)
+        (cl:setf (cl:char (cl:slot-value msg 'message) __ros_str_idx) (cl:code-char (cl:read-byte istream)))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<SetString-response>)))
+  "Returns string type for a service object of type '<SetString-response>"
+  "astra_camera/SetStringResponse")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'SetString-response)))
+  "Returns string type for a service object of type 'SetString-response"
+  "astra_camera/SetStringResponse")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<SetString-response>)))
+  "Returns md5sum for a message object of type '<SetString-response>"
+  "546971982e3fbbd5a41e60fb6432e357")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'SetString-response)))
+  "Returns md5sum for a message object of type 'SetString-response"
+  "546971982e3fbbd5a41e60fb6432e357")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<SetString-response>)))
+  "Returns full string definition for message of type '<SetString-response>"
+  (cl:format cl:nil "bool success~%string message~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'SetString-response)))
+  "Returns full string definition for message of type 'SetString-response"
+  (cl:format cl:nil "bool success~%string message~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <SetString-response>))
+  (cl:+ 0
+     1
+     4 (cl:length (cl:slot-value msg 'message))
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <SetString-response>))
+  "Converts a ROS message object to a list"
+  (cl:list 'SetString-response
+    (cl:cons ':success (success msg))
+    (cl:cons ':message (message msg))
+))
+(cl:defmethod roslisp-msg-protocol:service-request-type ((msg (cl:eql 'SetString)))
+  'SetString-request)
+(cl:defmethod roslisp-msg-protocol:service-response-type ((msg (cl:eql 'SetString)))
+  'SetString-response)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'SetString)))
+  "Returns string type for a service object of type '<SetString>"
+  "astra_camera/SetString")

camera_ws/devel/share/common-lisp/ros/astra_camera/srv/_package.lisp

@@ -0,0 +1,50 @@
+(cl:defpackage astra_camera-srv
+  (:use )
+  (:export
+   "GETBOOL"
+   "<GETBOOL-REQUEST>"
+   "GETBOOL-REQUEST"
+   "<GETBOOL-RESPONSE>"
+   "GETBOOL-RESPONSE"
+   "GETCAMERAINFO"
+   "<GETCAMERAINFO-REQUEST>"
+   "GETCAMERAINFO-REQUEST"
+   "<GETCAMERAINFO-RESPONSE>"
+   "GETCAMERAINFO-RESPONSE"
+   "GETCAMERAPARAMS"
+   "<GETCAMERAPARAMS-REQUEST>"
+   "GETCAMERAPARAMS-REQUEST"
+   "<GETCAMERAPARAMS-RESPONSE>"
+   "GETCAMERAPARAMS-RESPONSE"
+   "GETDEVICEINFO"
+   "<GETDEVICEINFO-REQUEST>"
+   "GETDEVICEINFO-REQUEST"
+   "<GETDEVICEINFO-RESPONSE>"
+   "GETDEVICEINFO-RESPONSE"
+   "GETDOUBLE"
+   "<GETDOUBLE-REQUEST>"
+   "GETDOUBLE-REQUEST"
+   "<GETDOUBLE-RESPONSE>"
+   "GETDOUBLE-RESPONSE"
+   "GETINT32"
+   "<GETINT32-REQUEST>"
+   "GETINT32-REQUEST"
+   "<GETINT32-RESPONSE>"
+   "GETINT32-RESPONSE"
+   "GETSTRING"
+   "<GETSTRING-REQUEST>"
+   "GETSTRING-REQUEST"
+   "<GETSTRING-RESPONSE>"
+   "GETSTRING-RESPONSE"
+   "SETINT32"
+   "<SETINT32-REQUEST>"
+   "SETINT32-REQUEST"
+   "<SETINT32-RESPONSE>"
+   "SETINT32-RESPONSE"
+   "SETSTRING"
+   "<SETSTRING-REQUEST>"
+   "SETSTRING-REQUEST"
+   "<SETSTRING-RESPONSE>"
+   "SETSTRING-RESPONSE"
+  ))
+

camera_ws/devel/share/common-lisp/ros/astra_camera/srv/_package_GetBool.lisp

@@ -0,0 +1,8 @@
+(cl:in-package astra_camera-srv)
+(cl:export '(DATA-VAL
+          DATA
+          SUCCESS-VAL
+          SUCCESS
+          MESSAGE-VAL
+          MESSAGE
+))

camera_ws/devel/share/common-lisp/ros/astra_camera/srv/_package_GetCameraInfo.lisp

@@ -0,0 +1,8 @@
+(cl:in-package astra_camera-srv)
+(cl:export '(INFO-VAL
+          INFO
+          SUCCESS-VAL
+          SUCCESS
+          MESSAGE-VAL
+          MESSAGE
+))

camera_ws/devel/share/common-lisp/ros/astra_camera/srv/_package_GetCameraParams.lisp

@@ -0,0 +1,18 @@
+(cl:in-package astra_camera-srv)
+(cl:export '(L_INTR_P-VAL
+          L_INTR_P
+          R_INTR_P-VAL
+          R_INTR_P
+          R2L_R-VAL
+          R2L_R
+          R2L_T-VAL
+          R2L_T
+          L_K-VAL
+          L_K
+          R_K-VAL
+          R_K
+          SUCCESS-VAL
+          SUCCESS
+          MESSAGE-VAL
+          MESSAGE
+))

camera_ws/devel/share/common-lisp/ros/astra_camera/srv/_package_GetDeviceInfo.lisp

@@ -0,0 +1,8 @@
+(cl:in-package astra_camera-srv)
+(cl:export '(INFO-VAL
+          INFO
+          SUCCESS-VAL
+          SUCCESS
+          MESSAGE-VAL
+          MESSAGE
+))

camera_ws/devel/share/common-lisp/ros/astra_camera/srv/_package_GetDouble.lisp

@@ -0,0 +1,8 @@
+(cl:in-package astra_camera-srv)
+(cl:export '(DATA-VAL
+          DATA
+          SUCCESS-VAL
+          SUCCESS
+          MESSAGE-VAL
+          MESSAGE
+))

camera_ws/devel/share/common-lisp/ros/astra_camera/srv/_package_GetInt32.lisp

@@ -0,0 +1,8 @@
+(cl:in-package astra_camera-srv)
+(cl:export '(DATA-VAL
+          DATA
+          SUCCESS-VAL
+          SUCCESS
+          MESSAGE-VAL
+          MESSAGE
+))

camera_ws/devel/share/common-lisp/ros/astra_camera/srv/_package_GetString.lisp

@@ -0,0 +1,8 @@
+(cl:in-package astra_camera-srv)
+(cl:export '(DATA-VAL
+          DATA
+          SUCCESS-VAL
+          SUCCESS
+          MESSAGE-VAL
+          MESSAGE
+))

camera_ws/devel/share/common-lisp/ros/astra_camera/srv/_package_SetInt32.lisp

@@ -0,0 +1,8 @@
+(cl:in-package astra_camera-srv)
+(cl:export '(DATA-VAL
+          DATA
+          SUCCESS-VAL
+          SUCCESS
+          MESSAGE-VAL
+          MESSAGE
+))

camera_ws/devel/share/common-lisp/ros/astra_camera/srv/_package_SetString.lisp

@@ -0,0 +1,8 @@
+(cl:in-package astra_camera-srv)
+(cl:export '(DATA-VAL
+          DATA
+          SUCCESS-VAL
+          SUCCESS
+          MESSAGE-VAL
+          MESSAGE
+))

camera_ws/devel/share/common-lisp/ros/astra_camera/srv/astra_camera-srv.asd

@@ -0,0 +1,27 @@
+
+(cl:in-package :asdf)
+
+(defsystem "astra_camera-srv"
+  :depends-on (:roslisp-msg-protocol :roslisp-utils :astra_camera-msg
+               :sensor_msgs-msg
+)
+  :components ((:file "_package")
+    (:file "GetBool" :depends-on ("_package_GetBool"))
+    (:file "_package_GetBool" :depends-on ("_package"))
+    (:file "GetCameraInfo" :depends-on ("_package_GetCameraInfo"))
+    (:file "_package_GetCameraInfo" :depends-on ("_package"))
+    (:file "GetCameraParams" :depends-on ("_package_GetCameraParams"))
+    (:file "_package_GetCameraParams" :depends-on ("_package"))
+    (:file "GetDeviceInfo" :depends-on ("_package_GetDeviceInfo"))
+    (:file "_package_GetDeviceInfo" :depends-on ("_package"))
+    (:file "GetDouble" :depends-on ("_package_GetDouble"))
+    (:file "_package_GetDouble" :depends-on ("_package"))
+    (:file "GetInt32" :depends-on ("_package_GetInt32"))
+    (:file "_package_GetInt32" :depends-on ("_package"))
+    (:file "GetString" :depends-on ("_package_GetString"))
+    (:file "_package_GetString" :depends-on ("_package"))
+    (:file "SetInt32" :depends-on ("_package_SetInt32"))
+    (:file "_package_SetInt32" :depends-on ("_package"))
+    (:file "SetString" :depends-on ("_package_SetString"))
+    (:file "_package_SetString" :depends-on ("_package"))
+  ))

camera_ws/devel/share/common-lisp/ros/realsense2_camera/msg/_package_IMUInfo.lisp

@@ -0,0 +1,10 @@
+(cl:in-package realsense2_camera-msg)
+(cl:export '(FRAME_ID-VAL
+          FRAME_ID
+          DATA-VAL
+          DATA
+          NOISE_VARIANCES-VAL
+          NOISE_VARIANCES
+          BIAS_VARIANCES-VAL
+          BIAS_VARIANCES
+))

camera_ws/devel/share/gennodejs/ros/astra_camera/_index.js

@@ -0,0 +1,7 @@
+
+"use strict";
+
+module.exports = {
+  msg: require('./msg/_index.js'),
+  srv: require('./srv/_index.js')
+};

camera_ws/devel/share/gennodejs/ros/astra_camera/msg/DeviceInfo.js

@@ -0,0 +1,245 @@
+// Auto-generated. Do not edit!
+
+// (in-package astra_camera.msg)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+let std_msgs = _finder('std_msgs');
+
+//-----------------------------------------------------------
+
+class DeviceInfo {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.header = null;
+      this.name = null;
+      this.vid = null;
+      this.pid = null;
+      this.serial_number = null;
+      this.firmware_version = null;
+      this.supported_min_sdk_version = null;
+      this.hardware_version = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('header')) {
+        this.header = initObj.header
+      }
+      else {
+        this.header = new std_msgs.msg.Header();
+      }
+      if (initObj.hasOwnProperty('name')) {
+        this.name = initObj.name
+      }
+      else {
+        this.name = '';
+      }
+      if (initObj.hasOwnProperty('vid')) {
+        this.vid = initObj.vid
+      }
+      else {
+        this.vid = 0;
+      }
+      if (initObj.hasOwnProperty('pid')) {
+        this.pid = initObj.pid
+      }
+      else {
+        this.pid = 0;
+      }
+      if (initObj.hasOwnProperty('serial_number')) {
+        this.serial_number = initObj.serial_number
+      }
+      else {
+        this.serial_number = '';
+      }
+      if (initObj.hasOwnProperty('firmware_version')) {
+        this.firmware_version = initObj.firmware_version
+      }
+      else {
+        this.firmware_version = '';
+      }
+      if (initObj.hasOwnProperty('supported_min_sdk_version')) {
+        this.supported_min_sdk_version = initObj.supported_min_sdk_version
+      }
+      else {
+        this.supported_min_sdk_version = '';
+      }
+      if (initObj.hasOwnProperty('hardware_version')) {
+        this.hardware_version = initObj.hardware_version
+      }
+      else {
+        this.hardware_version = '';
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type DeviceInfo
+    // Serialize message field [header]
+    bufferOffset = std_msgs.msg.Header.serialize(obj.header, buffer, bufferOffset);
+    // Serialize message field [name]
+    bufferOffset = _serializer.string(obj.name, buffer, bufferOffset);
+    // Serialize message field [vid]
+    bufferOffset = _serializer.int32(obj.vid, buffer, bufferOffset);
+    // Serialize message field [pid]
+    bufferOffset = _serializer.int32(obj.pid, buffer, bufferOffset);
+    // Serialize message field [serial_number]
+    bufferOffset = _serializer.string(obj.serial_number, buffer, bufferOffset);
+    // Serialize message field [firmware_version]
+    bufferOffset = _serializer.string(obj.firmware_version, buffer, bufferOffset);
+    // Serialize message field [supported_min_sdk_version]
+    bufferOffset = _serializer.string(obj.supported_min_sdk_version, buffer, bufferOffset);
+    // Serialize message field [hardware_version]
+    bufferOffset = _serializer.string(obj.hardware_version, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type DeviceInfo
+    let len;
+    let data = new DeviceInfo(null);
+    // Deserialize message field [header]
+    data.header = std_msgs.msg.Header.deserialize(buffer, bufferOffset);
+    // Deserialize message field [name]
+    data.name = _deserializer.string(buffer, bufferOffset);
+    // Deserialize message field [vid]
+    data.vid = _deserializer.int32(buffer, bufferOffset);
+    // Deserialize message field [pid]
+    data.pid = _deserializer.int32(buffer, bufferOffset);
+    // Deserialize message field [serial_number]
+    data.serial_number = _deserializer.string(buffer, bufferOffset);
+    // Deserialize message field [firmware_version]
+    data.firmware_version = _deserializer.string(buffer, bufferOffset);
+    // Deserialize message field [supported_min_sdk_version]
+    data.supported_min_sdk_version = _deserializer.string(buffer, bufferOffset);
+    // Deserialize message field [hardware_version]
+    data.hardware_version = _deserializer.string(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    let length = 0;
+    length += std_msgs.msg.Header.getMessageSize(object.header);
+    length += _getByteLength(object.name);
+    length += _getByteLength(object.serial_number);
+    length += _getByteLength(object.firmware_version);
+    length += _getByteLength(object.supported_min_sdk_version);
+    length += _getByteLength(object.hardware_version);
+    return length + 28;
+  }
+
+  static datatype() {
+    // Returns string type for a message object
+    return 'astra_camera/DeviceInfo';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return 'f8aabac6d632dd2641eb4f5942464a66';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    std_msgs/Header header
+    string name
+    int32 vid
+    int32 pid
+    string serial_number
+    string firmware_version
+    string supported_min_sdk_version
+    string hardware_version
+    
+    ================================================================================
+    MSG: std_msgs/Header
+    # Standard metadata for higher-level stamped data types.
+    # This is generally used to communicate timestamped data 
+    # in a particular coordinate frame.
+    # 
+    # sequence ID: consecutively increasing ID 
+    uint32 seq
+    #Two-integer timestamp that is expressed as:
+    # * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+    # * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+    # time-handling sugar is provided by the client library
+    time stamp
+    #Frame this data is associated with
+    string frame_id
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new DeviceInfo(null);
+    if (msg.header !== undefined) {
+      resolved.header = std_msgs.msg.Header.Resolve(msg.header)
+    }
+    else {
+      resolved.header = new std_msgs.msg.Header()
+    }
+
+    if (msg.name !== undefined) {
+      resolved.name = msg.name;
+    }
+    else {
+      resolved.name = ''
+    }
+
+    if (msg.vid !== undefined) {
+      resolved.vid = msg.vid;
+    }
+    else {
+      resolved.vid = 0
+    }
+
+    if (msg.pid !== undefined) {
+      resolved.pid = msg.pid;
+    }
+    else {
+      resolved.pid = 0
+    }
+
+    if (msg.serial_number !== undefined) {
+      resolved.serial_number = msg.serial_number;
+    }
+    else {
+      resolved.serial_number = ''
+    }
+
+    if (msg.firmware_version !== undefined) {
+      resolved.firmware_version = msg.firmware_version;
+    }
+    else {
+      resolved.firmware_version = ''
+    }
+
+    if (msg.supported_min_sdk_version !== undefined) {
+      resolved.supported_min_sdk_version = msg.supported_min_sdk_version;
+    }
+    else {
+      resolved.supported_min_sdk_version = ''
+    }
+
+    if (msg.hardware_version !== undefined) {
+      resolved.hardware_version = msg.hardware_version;
+    }
+    else {
+      resolved.hardware_version = ''
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = DeviceInfo;

camera_ws/devel/share/gennodejs/ros/astra_camera/msg/Extrinsics.js

@@ -0,0 +1,153 @@
+// Auto-generated. Do not edit!
+
+// (in-package astra_camera.msg)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+let std_msgs = _finder('std_msgs');
+
+//-----------------------------------------------------------
+
+class Extrinsics {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.header = null;
+      this.rotation = null;
+      this.translation = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('header')) {
+        this.header = initObj.header
+      }
+      else {
+        this.header = new std_msgs.msg.Header();
+      }
+      if (initObj.hasOwnProperty('rotation')) {
+        this.rotation = initObj.rotation
+      }
+      else {
+        this.rotation = new Array(9).fill(0);
+      }
+      if (initObj.hasOwnProperty('translation')) {
+        this.translation = initObj.translation
+      }
+      else {
+        this.translation = new Array(3).fill(0);
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type Extrinsics
+    // Serialize message field [header]
+    bufferOffset = std_msgs.msg.Header.serialize(obj.header, buffer, bufferOffset);
+    // Check that the constant length array field [rotation] has the right length
+    if (obj.rotation.length !== 9) {
+      throw new Error('Unable to serialize array field rotation - length must be 9')
+    }
+    // Serialize message field [rotation]
+    bufferOffset = _arraySerializer.float64(obj.rotation, buffer, bufferOffset, 9);
+    // Check that the constant length array field [translation] has the right length
+    if (obj.translation.length !== 3) {
+      throw new Error('Unable to serialize array field translation - length must be 3')
+    }
+    // Serialize message field [translation]
+    bufferOffset = _arraySerializer.float64(obj.translation, buffer, bufferOffset, 3);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type Extrinsics
+    let len;
+    let data = new Extrinsics(null);
+    // Deserialize message field [header]
+    data.header = std_msgs.msg.Header.deserialize(buffer, bufferOffset);
+    // Deserialize message field [rotation]
+    data.rotation = _arrayDeserializer.float64(buffer, bufferOffset, 9)
+    // Deserialize message field [translation]
+    data.translation = _arrayDeserializer.float64(buffer, bufferOffset, 3)
+    return data;
+  }
+
+  static getMessageSize(object) {
+    let length = 0;
+    length += std_msgs.msg.Header.getMessageSize(object.header);
+    return length + 96;
+  }
+
+  static datatype() {
+    // Returns string type for a message object
+    return 'astra_camera/Extrinsics';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '3627b43073f4cd5dd6dc179a49eda2ad';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    std_msgs/Header header
+    float64[9] rotation
+    float64[3] translation
+    
+    ================================================================================
+    MSG: std_msgs/Header
+    # Standard metadata for higher-level stamped data types.
+    # This is generally used to communicate timestamped data 
+    # in a particular coordinate frame.
+    # 
+    # sequence ID: consecutively increasing ID 
+    uint32 seq
+    #Two-integer timestamp that is expressed as:
+    # * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+    # * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+    # time-handling sugar is provided by the client library
+    time stamp
+    #Frame this data is associated with
+    string frame_id
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new Extrinsics(null);
+    if (msg.header !== undefined) {
+      resolved.header = std_msgs.msg.Header.Resolve(msg.header)
+    }
+    else {
+      resolved.header = new std_msgs.msg.Header()
+    }
+
+    if (msg.rotation !== undefined) {
+      resolved.rotation = msg.rotation;
+    }
+    else {
+      resolved.rotation = new Array(9).fill(0)
+    }
+
+    if (msg.translation !== undefined) {
+      resolved.translation = msg.translation;
+    }
+    else {
+      resolved.translation = new Array(3).fill(0)
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = Extrinsics;

camera_ws/devel/share/gennodejs/ros/astra_camera/msg/Metadata.js

@@ -0,0 +1,127 @@
+// Auto-generated. Do not edit!
+
+// (in-package astra_camera.msg)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+let std_msgs = _finder('std_msgs');
+
+//-----------------------------------------------------------
+
+class Metadata {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.header = null;
+      this.json_data = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('header')) {
+        this.header = initObj.header
+      }
+      else {
+        this.header = new std_msgs.msg.Header();
+      }
+      if (initObj.hasOwnProperty('json_data')) {
+        this.json_data = initObj.json_data
+      }
+      else {
+        this.json_data = '';
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type Metadata
+    // Serialize message field [header]
+    bufferOffset = std_msgs.msg.Header.serialize(obj.header, buffer, bufferOffset);
+    // Serialize message field [json_data]
+    bufferOffset = _serializer.string(obj.json_data, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type Metadata
+    let len;
+    let data = new Metadata(null);
+    // Deserialize message field [header]
+    data.header = std_msgs.msg.Header.deserialize(buffer, bufferOffset);
+    // Deserialize message field [json_data]
+    data.json_data = _deserializer.string(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    let length = 0;
+    length += std_msgs.msg.Header.getMessageSize(object.header);
+    length += _getByteLength(object.json_data);
+    return length + 4;
+  }
+
+  static datatype() {
+    // Returns string type for a message object
+    return 'astra_camera/Metadata';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '4966ca002be16ee67fe4dbfb2f354787';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    std_msgs/Header header
+    string json_data
+    
+    ================================================================================
+    MSG: std_msgs/Header
+    # Standard metadata for higher-level stamped data types.
+    # This is generally used to communicate timestamped data 
+    # in a particular coordinate frame.
+    # 
+    # sequence ID: consecutively increasing ID 
+    uint32 seq
+    #Two-integer timestamp that is expressed as:
+    # * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+    # * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+    # time-handling sugar is provided by the client library
+    time stamp
+    #Frame this data is associated with
+    string frame_id
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new Metadata(null);
+    if (msg.header !== undefined) {
+      resolved.header = std_msgs.msg.Header.Resolve(msg.header)
+    }
+    else {
+      resolved.header = new std_msgs.msg.Header()
+    }
+
+    if (msg.json_data !== undefined) {
+      resolved.json_data = msg.json_data;
+    }
+    else {
+      resolved.json_data = ''
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = Metadata;

camera_ws/devel/share/gennodejs/ros/astra_camera/msg/_index.js

@@ -0,0 +1,12 @@
+
+"use strict";
+
+let DeviceInfo = require('./DeviceInfo.js');
+let Metadata = require('./Metadata.js');
+let Extrinsics = require('./Extrinsics.js');
+
+module.exports = {
+  DeviceInfo: DeviceInfo,
+  Metadata: Metadata,
+  Extrinsics: Extrinsics,
+};

camera_ws/devel/share/gennodejs/ros/astra_camera/srv/GetBool.js

@@ -0,0 +1,189 @@
+// Auto-generated. Do not edit!
+
+// (in-package astra_camera.srv)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+
+//-----------------------------------------------------------
+
+
+//-----------------------------------------------------------
+
+class GetBoolRequest {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+    }
+    else {
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type GetBoolRequest
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type GetBoolRequest
+    let len;
+    let data = new GetBoolRequest(null);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    return 0;
+  }
+
+  static datatype() {
+    // Returns string type for a service object
+    return 'astra_camera/GetBoolRequest';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return 'd41d8cd98f00b204e9800998ecf8427e';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new GetBoolRequest(null);
+    return resolved;
+    }
+};
+
+class GetBoolResponse {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.data = null;
+      this.success = null;
+      this.message = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('data')) {
+        this.data = initObj.data
+      }
+      else {
+        this.data = false;
+      }
+      if (initObj.hasOwnProperty('success')) {
+        this.success = initObj.success
+      }
+      else {
+        this.success = false;
+      }
+      if (initObj.hasOwnProperty('message')) {
+        this.message = initObj.message
+      }
+      else {
+        this.message = '';
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type GetBoolResponse
+    // Serialize message field [data]
+    bufferOffset = _serializer.bool(obj.data, buffer, bufferOffset);
+    // Serialize message field [success]
+    bufferOffset = _serializer.bool(obj.success, buffer, bufferOffset);
+    // Serialize message field [message]
+    bufferOffset = _serializer.string(obj.message, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type GetBoolResponse
+    let len;
+    let data = new GetBoolResponse(null);
+    // Deserialize message field [data]
+    data.data = _deserializer.bool(buffer, bufferOffset);
+    // Deserialize message field [success]
+    data.success = _deserializer.bool(buffer, bufferOffset);
+    // Deserialize message field [message]
+    data.message = _deserializer.string(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    let length = 0;
+    length += _getByteLength(object.message);
+    return length + 6;
+  }
+
+  static datatype() {
+    // Returns string type for a service object
+    return 'astra_camera/GetBoolResponse';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '43f76a855b16e988566e147b692f2fab';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    bool data
+    bool success
+    string message
+    
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new GetBoolResponse(null);
+    if (msg.data !== undefined) {
+      resolved.data = msg.data;
+    }
+    else {
+      resolved.data = false
+    }
+
+    if (msg.success !== undefined) {
+      resolved.success = msg.success;
+    }
+    else {
+      resolved.success = false
+    }
+
+    if (msg.message !== undefined) {
+      resolved.message = msg.message;
+    }
+    else {
+      resolved.message = ''
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = {
+  Request: GetBoolRequest,
+  Response: GetBoolResponse,
+  md5sum() { return '43f76a855b16e988566e147b692f2fab'; },
+  datatype() { return 'astra_camera/GetBool'; }
+};

camera_ws/devel/share/gennodejs/ros/astra_camera/srv/GetCameraParams.js

@@ -0,0 +1,308 @@
+// Auto-generated. Do not edit!
+
+// (in-package astra_camera.srv)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+
+//-----------------------------------------------------------
+
+
+//-----------------------------------------------------------
+
+class GetCameraParamsRequest {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+    }
+    else {
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type GetCameraParamsRequest
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type GetCameraParamsRequest
+    let len;
+    let data = new GetCameraParamsRequest(null);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    return 0;
+  }
+
+  static datatype() {
+    // Returns string type for a service object
+    return 'astra_camera/GetCameraParamsRequest';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return 'd41d8cd98f00b204e9800998ecf8427e';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new GetCameraParamsRequest(null);
+    return resolved;
+    }
+};
+
+class GetCameraParamsResponse {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.l_intr_p = null;
+      this.r_intr_p = null;
+      this.r2l_r = null;
+      this.r2l_t = null;
+      this.l_k = null;
+      this.r_k = null;
+      this.success = null;
+      this.message = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('l_intr_p')) {
+        this.l_intr_p = initObj.l_intr_p
+      }
+      else {
+        this.l_intr_p = new Array(4).fill(0);
+      }
+      if (initObj.hasOwnProperty('r_intr_p')) {
+        this.r_intr_p = initObj.r_intr_p
+      }
+      else {
+        this.r_intr_p = new Array(4).fill(0);
+      }
+      if (initObj.hasOwnProperty('r2l_r')) {
+        this.r2l_r = initObj.r2l_r
+      }
+      else {
+        this.r2l_r = new Array(9).fill(0);
+      }
+      if (initObj.hasOwnProperty('r2l_t')) {
+        this.r2l_t = initObj.r2l_t
+      }
+      else {
+        this.r2l_t = new Array(3).fill(0);
+      }
+      if (initObj.hasOwnProperty('l_k')) {
+        this.l_k = initObj.l_k
+      }
+      else {
+        this.l_k = new Array(5).fill(0);
+      }
+      if (initObj.hasOwnProperty('r_k')) {
+        this.r_k = initObj.r_k
+      }
+      else {
+        this.r_k = new Array(5).fill(0);
+      }
+      if (initObj.hasOwnProperty('success')) {
+        this.success = initObj.success
+      }
+      else {
+        this.success = false;
+      }
+      if (initObj.hasOwnProperty('message')) {
+        this.message = initObj.message
+      }
+      else {
+        this.message = '';
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type GetCameraParamsResponse
+    // Check that the constant length array field [l_intr_p] has the right length
+    if (obj.l_intr_p.length !== 4) {
+      throw new Error('Unable to serialize array field l_intr_p - length must be 4')
+    }
+    // Serialize message field [l_intr_p]
+    bufferOffset = _arraySerializer.float32(obj.l_intr_p, buffer, bufferOffset, 4);
+    // Check that the constant length array field [r_intr_p] has the right length
+    if (obj.r_intr_p.length !== 4) {
+      throw new Error('Unable to serialize array field r_intr_p - length must be 4')
+    }
+    // Serialize message field [r_intr_p]
+    bufferOffset = _arraySerializer.float32(obj.r_intr_p, buffer, bufferOffset, 4);
+    // Check that the constant length array field [r2l_r] has the right length
+    if (obj.r2l_r.length !== 9) {
+      throw new Error('Unable to serialize array field r2l_r - length must be 9')
+    }
+    // Serialize message field [r2l_r]
+    bufferOffset = _arraySerializer.float32(obj.r2l_r, buffer, bufferOffset, 9);
+    // Check that the constant length array field [r2l_t] has the right length
+    if (obj.r2l_t.length !== 3) {
+      throw new Error('Unable to serialize array field r2l_t - length must be 3')
+    }
+    // Serialize message field [r2l_t]
+    bufferOffset = _arraySerializer.float32(obj.r2l_t, buffer, bufferOffset, 3);
+    // Check that the constant length array field [l_k] has the right length
+    if (obj.l_k.length !== 5) {
+      throw new Error('Unable to serialize array field l_k - length must be 5')
+    }
+    // Serialize message field [l_k]
+    bufferOffset = _arraySerializer.float32(obj.l_k, buffer, bufferOffset, 5);
+    // Check that the constant length array field [r_k] has the right length
+    if (obj.r_k.length !== 5) {
+      throw new Error('Unable to serialize array field r_k - length must be 5')
+    }
+    // Serialize message field [r_k]
+    bufferOffset = _arraySerializer.float32(obj.r_k, buffer, bufferOffset, 5);
+    // Serialize message field [success]
+    bufferOffset = _serializer.bool(obj.success, buffer, bufferOffset);
+    // Serialize message field [message]
+    bufferOffset = _serializer.string(obj.message, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type GetCameraParamsResponse
+    let len;
+    let data = new GetCameraParamsResponse(null);
+    // Deserialize message field [l_intr_p]
+    data.l_intr_p = _arrayDeserializer.float32(buffer, bufferOffset, 4)
+    // Deserialize message field [r_intr_p]
+    data.r_intr_p = _arrayDeserializer.float32(buffer, bufferOffset, 4)
+    // Deserialize message field [r2l_r]
+    data.r2l_r = _arrayDeserializer.float32(buffer, bufferOffset, 9)
+    // Deserialize message field [r2l_t]
+    data.r2l_t = _arrayDeserializer.float32(buffer, bufferOffset, 3)
+    // Deserialize message field [l_k]
+    data.l_k = _arrayDeserializer.float32(buffer, bufferOffset, 5)
+    // Deserialize message field [r_k]
+    data.r_k = _arrayDeserializer.float32(buffer, bufferOffset, 5)
+    // Deserialize message field [success]
+    data.success = _deserializer.bool(buffer, bufferOffset);
+    // Deserialize message field [message]
+    data.message = _deserializer.string(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    let length = 0;
+    length += _getByteLength(object.message);
+    return length + 125;
+  }
+
+  static datatype() {
+    // Returns string type for a service object
+    return 'astra_camera/GetCameraParamsResponse';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '82a0d82977d6826869eb4772054042e0';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    float32[4] l_intr_p
+    float32[4] r_intr_p
+    float32[9] r2l_r
+    float32[3] r2l_t
+    float32[5] l_k
+    float32[5] r_k
+    bool success
+    string message
+    
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new GetCameraParamsResponse(null);
+    if (msg.l_intr_p !== undefined) {
+      resolved.l_intr_p = msg.l_intr_p;
+    }
+    else {
+      resolved.l_intr_p = new Array(4).fill(0)
+    }
+
+    if (msg.r_intr_p !== undefined) {
+      resolved.r_intr_p = msg.r_intr_p;
+    }
+    else {
+      resolved.r_intr_p = new Array(4).fill(0)
+    }
+
+    if (msg.r2l_r !== undefined) {
+      resolved.r2l_r = msg.r2l_r;
+    }
+    else {
+      resolved.r2l_r = new Array(9).fill(0)
+    }
+
+    if (msg.r2l_t !== undefined) {
+      resolved.r2l_t = msg.r2l_t;
+    }
+    else {
+      resolved.r2l_t = new Array(3).fill(0)
+    }
+
+    if (msg.l_k !== undefined) {
+      resolved.l_k = msg.l_k;
+    }
+    else {
+      resolved.l_k = new Array(5).fill(0)
+    }
+
+    if (msg.r_k !== undefined) {
+      resolved.r_k = msg.r_k;
+    }
+    else {
+      resolved.r_k = new Array(5).fill(0)
+    }
+
+    if (msg.success !== undefined) {
+      resolved.success = msg.success;
+    }
+    else {
+      resolved.success = false
+    }
+
+    if (msg.message !== undefined) {
+      resolved.message = msg.message;
+    }
+    else {
+      resolved.message = ''
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = {
+  Request: GetCameraParamsRequest,
+  Response: GetCameraParamsResponse,
+  md5sum() { return '82a0d82977d6826869eb4772054042e0'; },
+  datatype() { return 'astra_camera/GetCameraParams'; }
+};

camera_ws/devel/share/gennodejs/ros/astra_camera/srv/GetDeviceInfo.js

@@ -0,0 +1,218 @@
+// Auto-generated. Do not edit!
+
+// (in-package astra_camera.srv)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+
+//-----------------------------------------------------------
+
+let DeviceInfo = require('../msg/DeviceInfo.js');
+
+//-----------------------------------------------------------
+
+class GetDeviceInfoRequest {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+    }
+    else {
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type GetDeviceInfoRequest
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type GetDeviceInfoRequest
+    let len;
+    let data = new GetDeviceInfoRequest(null);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    return 0;
+  }
+
+  static datatype() {
+    // Returns string type for a service object
+    return 'astra_camera/GetDeviceInfoRequest';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return 'd41d8cd98f00b204e9800998ecf8427e';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new GetDeviceInfoRequest(null);
+    return resolved;
+    }
+};
+
+class GetDeviceInfoResponse {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.info = null;
+      this.success = null;
+      this.message = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('info')) {
+        this.info = initObj.info
+      }
+      else {
+        this.info = new DeviceInfo();
+      }
+      if (initObj.hasOwnProperty('success')) {
+        this.success = initObj.success
+      }
+      else {
+        this.success = false;
+      }
+      if (initObj.hasOwnProperty('message')) {
+        this.message = initObj.message
+      }
+      else {
+        this.message = '';
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type GetDeviceInfoResponse
+    // Serialize message field [info]
+    bufferOffset = DeviceInfo.serialize(obj.info, buffer, bufferOffset);
+    // Serialize message field [success]
+    bufferOffset = _serializer.bool(obj.success, buffer, bufferOffset);
+    // Serialize message field [message]
+    bufferOffset = _serializer.string(obj.message, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type GetDeviceInfoResponse
+    let len;
+    let data = new GetDeviceInfoResponse(null);
+    // Deserialize message field [info]
+    data.info = DeviceInfo.deserialize(buffer, bufferOffset);
+    // Deserialize message field [success]
+    data.success = _deserializer.bool(buffer, bufferOffset);
+    // Deserialize message field [message]
+    data.message = _deserializer.string(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    let length = 0;
+    length += DeviceInfo.getMessageSize(object.info);
+    length += _getByteLength(object.message);
+    return length + 5;
+  }
+
+  static datatype() {
+    // Returns string type for a service object
+    return 'astra_camera/GetDeviceInfoResponse';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '1e369ba84c0330473501a0820257661a';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    DeviceInfo info
+    bool success
+    string message
+    
+    
+    ================================================================================
+    MSG: astra_camera/DeviceInfo
+    std_msgs/Header header
+    string name
+    int32 vid
+    int32 pid
+    string serial_number
+    string firmware_version
+    string supported_min_sdk_version
+    string hardware_version
+    
+    ================================================================================
+    MSG: std_msgs/Header
+    # Standard metadata for higher-level stamped data types.
+    # This is generally used to communicate timestamped data 
+    # in a particular coordinate frame.
+    # 
+    # sequence ID: consecutively increasing ID 
+    uint32 seq
+    #Two-integer timestamp that is expressed as:
+    # * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+    # * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+    # time-handling sugar is provided by the client library
+    time stamp
+    #Frame this data is associated with
+    string frame_id
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new GetDeviceInfoResponse(null);
+    if (msg.info !== undefined) {
+      resolved.info = DeviceInfo.Resolve(msg.info)
+    }
+    else {
+      resolved.info = new DeviceInfo()
+    }
+
+    if (msg.success !== undefined) {
+      resolved.success = msg.success;
+    }
+    else {
+      resolved.success = false
+    }
+
+    if (msg.message !== undefined) {
+      resolved.message = msg.message;
+    }
+    else {
+      resolved.message = ''
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = {
+  Request: GetDeviceInfoRequest,
+  Response: GetDeviceInfoResponse,
+  md5sum() { return '1e369ba84c0330473501a0820257661a'; },
+  datatype() { return 'astra_camera/GetDeviceInfo'; }
+};

camera_ws/devel/share/gennodejs/ros/astra_camera/srv/GetDouble.js

@@ -0,0 +1,189 @@
+// Auto-generated. Do not edit!
+
+// (in-package astra_camera.srv)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+
+//-----------------------------------------------------------
+
+
+//-----------------------------------------------------------
+
+class GetDoubleRequest {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+    }
+    else {
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type GetDoubleRequest
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type GetDoubleRequest
+    let len;
+    let data = new GetDoubleRequest(null);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    return 0;
+  }
+
+  static datatype() {
+    // Returns string type for a service object
+    return 'astra_camera/GetDoubleRequest';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return 'd41d8cd98f00b204e9800998ecf8427e';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new GetDoubleRequest(null);
+    return resolved;
+    }
+};
+
+class GetDoubleResponse {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.data = null;
+      this.success = null;
+      this.message = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('data')) {
+        this.data = initObj.data
+      }
+      else {
+        this.data = 0.0;
+      }
+      if (initObj.hasOwnProperty('success')) {
+        this.success = initObj.success
+      }
+      else {
+        this.success = false;
+      }
+      if (initObj.hasOwnProperty('message')) {
+        this.message = initObj.message
+      }
+      else {
+        this.message = '';
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type GetDoubleResponse
+    // Serialize message field [data]
+    bufferOffset = _serializer.float64(obj.data, buffer, bufferOffset);
+    // Serialize message field [success]
+    bufferOffset = _serializer.bool(obj.success, buffer, bufferOffset);
+    // Serialize message field [message]
+    bufferOffset = _serializer.string(obj.message, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type GetDoubleResponse
+    let len;
+    let data = new GetDoubleResponse(null);
+    // Deserialize message field [data]
+    data.data = _deserializer.float64(buffer, bufferOffset);
+    // Deserialize message field [success]
+    data.success = _deserializer.bool(buffer, bufferOffset);
+    // Deserialize message field [message]
+    data.message = _deserializer.string(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    let length = 0;
+    length += _getByteLength(object.message);
+    return length + 13;
+  }
+
+  static datatype() {
+    // Returns string type for a service object
+    return 'astra_camera/GetDoubleResponse';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return 'edb830bb55b38159c2bb5a997bcb994d';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    float64 data
+    bool success
+    string message
+    
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new GetDoubleResponse(null);
+    if (msg.data !== undefined) {
+      resolved.data = msg.data;
+    }
+    else {
+      resolved.data = 0.0
+    }
+
+    if (msg.success !== undefined) {
+      resolved.success = msg.success;
+    }
+    else {
+      resolved.success = false
+    }
+
+    if (msg.message !== undefined) {
+      resolved.message = msg.message;
+    }
+    else {
+      resolved.message = ''
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = {
+  Request: GetDoubleRequest,
+  Response: GetDoubleResponse,
+  md5sum() { return 'edb830bb55b38159c2bb5a997bcb994d'; },
+  datatype() { return 'astra_camera/GetDouble'; }
+};

camera_ws/devel/share/gennodejs/ros/astra_camera/srv/GetInt32.js

@@ -0,0 +1,189 @@
+// Auto-generated. Do not edit!
+
+// (in-package astra_camera.srv)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+
+//-----------------------------------------------------------
+
+
+//-----------------------------------------------------------
+
+class GetInt32Request {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+    }
+    else {
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type GetInt32Request
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type GetInt32Request
+    let len;
+    let data = new GetInt32Request(null);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    return 0;
+  }
+
+  static datatype() {
+    // Returns string type for a service object
+    return 'astra_camera/GetInt32Request';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return 'd41d8cd98f00b204e9800998ecf8427e';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new GetInt32Request(null);
+    return resolved;
+    }
+};
+
+class GetInt32Response {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.data = null;
+      this.success = null;
+      this.message = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('data')) {
+        this.data = initObj.data
+      }
+      else {
+        this.data = 0;
+      }
+      if (initObj.hasOwnProperty('success')) {
+        this.success = initObj.success
+      }
+      else {
+        this.success = false;
+      }
+      if (initObj.hasOwnProperty('message')) {
+        this.message = initObj.message
+      }
+      else {
+        this.message = '';
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type GetInt32Response
+    // Serialize message field [data]
+    bufferOffset = _serializer.int32(obj.data, buffer, bufferOffset);
+    // Serialize message field [success]
+    bufferOffset = _serializer.bool(obj.success, buffer, bufferOffset);
+    // Serialize message field [message]
+    bufferOffset = _serializer.string(obj.message, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type GetInt32Response
+    let len;
+    let data = new GetInt32Response(null);
+    // Deserialize message field [data]
+    data.data = _deserializer.int32(buffer, bufferOffset);
+    // Deserialize message field [success]
+    data.success = _deserializer.bool(buffer, bufferOffset);
+    // Deserialize message field [message]
+    data.message = _deserializer.string(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    let length = 0;
+    length += _getByteLength(object.message);
+    return length + 9;
+  }
+
+  static datatype() {
+    // Returns string type for a service object
+    return 'astra_camera/GetInt32Response';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '1e06c77f31583d55c01571a573d75b9f';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    int32 data
+    bool success
+    string message
+    
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new GetInt32Response(null);
+    if (msg.data !== undefined) {
+      resolved.data = msg.data;
+    }
+    else {
+      resolved.data = 0
+    }
+
+    if (msg.success !== undefined) {
+      resolved.success = msg.success;
+    }
+    else {
+      resolved.success = false
+    }
+
+    if (msg.message !== undefined) {
+      resolved.message = msg.message;
+    }
+    else {
+      resolved.message = ''
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = {
+  Request: GetInt32Request,
+  Response: GetInt32Response,
+  md5sum() { return '1e06c77f31583d55c01571a573d75b9f'; },
+  datatype() { return 'astra_camera/GetInt32'; }
+};

camera_ws/devel/share/gennodejs/ros/astra_camera/srv/GetString.js

@@ -0,0 +1,190 @@
+// Auto-generated. Do not edit!
+
+// (in-package astra_camera.srv)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+
+//-----------------------------------------------------------
+
+
+//-----------------------------------------------------------
+
+class GetStringRequest {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+    }
+    else {
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type GetStringRequest
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type GetStringRequest
+    let len;
+    let data = new GetStringRequest(null);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    return 0;
+  }
+
+  static datatype() {
+    // Returns string type for a service object
+    return 'astra_camera/GetStringRequest';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return 'd41d8cd98f00b204e9800998ecf8427e';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new GetStringRequest(null);
+    return resolved;
+    }
+};
+
+class GetStringResponse {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.data = null;
+      this.success = null;
+      this.message = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('data')) {
+        this.data = initObj.data
+      }
+      else {
+        this.data = '';
+      }
+      if (initObj.hasOwnProperty('success')) {
+        this.success = initObj.success
+      }
+      else {
+        this.success = false;
+      }
+      if (initObj.hasOwnProperty('message')) {
+        this.message = initObj.message
+      }
+      else {
+        this.message = '';
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type GetStringResponse
+    // Serialize message field [data]
+    bufferOffset = _serializer.string(obj.data, buffer, bufferOffset);
+    // Serialize message field [success]
+    bufferOffset = _serializer.bool(obj.success, buffer, bufferOffset);
+    // Serialize message field [message]
+    bufferOffset = _serializer.string(obj.message, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type GetStringResponse
+    let len;
+    let data = new GetStringResponse(null);
+    // Deserialize message field [data]
+    data.data = _deserializer.string(buffer, bufferOffset);
+    // Deserialize message field [success]
+    data.success = _deserializer.bool(buffer, bufferOffset);
+    // Deserialize message field [message]
+    data.message = _deserializer.string(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    let length = 0;
+    length += _getByteLength(object.data);
+    length += _getByteLength(object.message);
+    return length + 9;
+  }
+
+  static datatype() {
+    // Returns string type for a service object
+    return 'astra_camera/GetStringResponse';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '15baad3d82a7b70bfc4eb31d66322293';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    string data
+    bool success
+    string message
+    
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new GetStringResponse(null);
+    if (msg.data !== undefined) {
+      resolved.data = msg.data;
+    }
+    else {
+      resolved.data = ''
+    }
+
+    if (msg.success !== undefined) {
+      resolved.success = msg.success;
+    }
+    else {
+      resolved.success = false
+    }
+
+    if (msg.message !== undefined) {
+      resolved.message = msg.message;
+    }
+    else {
+      resolved.message = ''
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = {
+  Request: GetStringRequest,
+  Response: GetStringResponse,
+  md5sum() { return '15baad3d82a7b70bfc4eb31d66322293'; },
+  datatype() { return 'astra_camera/GetString'; }
+};

camera_ws/devel/share/gennodejs/ros/astra_camera/srv/SetInt32.js

@@ -0,0 +1,189 @@
+// Auto-generated. Do not edit!
+
+// (in-package astra_camera.srv)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+
+//-----------------------------------------------------------
+
+
+//-----------------------------------------------------------
+
+class SetInt32Request {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.data = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('data')) {
+        this.data = initObj.data
+      }
+      else {
+        this.data = 0;
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type SetInt32Request
+    // Serialize message field [data]
+    bufferOffset = _serializer.int32(obj.data, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type SetInt32Request
+    let len;
+    let data = new SetInt32Request(null);
+    // Deserialize message field [data]
+    data.data = _deserializer.int32(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    return 4;
+  }
+
+  static datatype() {
+    // Returns string type for a service object
+    return 'astra_camera/SetInt32Request';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return 'da5909fbe378aeaf85e547e830cc1bb7';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    int32 data
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new SetInt32Request(null);
+    if (msg.data !== undefined) {
+      resolved.data = msg.data;
+    }
+    else {
+      resolved.data = 0
+    }
+
+    return resolved;
+    }
+};
+
+class SetInt32Response {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.success = null;
+      this.message = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('success')) {
+        this.success = initObj.success
+      }
+      else {
+        this.success = false;
+      }
+      if (initObj.hasOwnProperty('message')) {
+        this.message = initObj.message
+      }
+      else {
+        this.message = '';
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type SetInt32Response
+    // Serialize message field [success]
+    bufferOffset = _serializer.bool(obj.success, buffer, bufferOffset);
+    // Serialize message field [message]
+    bufferOffset = _serializer.string(obj.message, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type SetInt32Response
+    let len;
+    let data = new SetInt32Response(null);
+    // Deserialize message field [success]
+    data.success = _deserializer.bool(buffer, bufferOffset);
+    // Deserialize message field [message]
+    data.message = _deserializer.string(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    let length = 0;
+    length += _getByteLength(object.message);
+    return length + 5;
+  }
+
+  static datatype() {
+    // Returns string type for a service object
+    return 'astra_camera/SetInt32Response';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '937c9679a518e3a18d831e57125ea522';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    bool success
+    string message
+    
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new SetInt32Response(null);
+    if (msg.success !== undefined) {
+      resolved.success = msg.success;
+    }
+    else {
+      resolved.success = false
+    }
+
+    if (msg.message !== undefined) {
+      resolved.message = msg.message;
+    }
+    else {
+      resolved.message = ''
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = {
+  Request: SetInt32Request,
+  Response: SetInt32Response,
+  md5sum() { return '41a6318c88ca9d75d7a585e2aa4ca6ea'; },
+  datatype() { return 'astra_camera/SetInt32'; }
+};

camera_ws/devel/share/gennodejs/ros/astra_camera/srv/SetString.js

@@ -0,0 +1,191 @@
+// Auto-generated. Do not edit!
+
+// (in-package astra_camera.srv)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+
+//-----------------------------------------------------------
+
+
+//-----------------------------------------------------------
+
+class SetStringRequest {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.data = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('data')) {
+        this.data = initObj.data
+      }
+      else {
+        this.data = '';
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type SetStringRequest
+    // Serialize message field [data]
+    bufferOffset = _serializer.string(obj.data, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type SetStringRequest
+    let len;
+    let data = new SetStringRequest(null);
+    // Deserialize message field [data]
+    data.data = _deserializer.string(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    let length = 0;
+    length += _getByteLength(object.data);
+    return length + 4;
+  }
+
+  static datatype() {
+    // Returns string type for a service object
+    return 'astra_camera/SetStringRequest';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '992ce8a1687cec8c8bd883ec73ca41d1';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    string data
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new SetStringRequest(null);
+    if (msg.data !== undefined) {
+      resolved.data = msg.data;
+    }
+    else {
+      resolved.data = ''
+    }
+
+    return resolved;
+    }
+};
+
+class SetStringResponse {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.success = null;
+      this.message = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('success')) {
+        this.success = initObj.success
+      }
+      else {
+        this.success = false;
+      }
+      if (initObj.hasOwnProperty('message')) {
+        this.message = initObj.message
+      }
+      else {
+        this.message = '';
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type SetStringResponse
+    // Serialize message field [success]
+    bufferOffset = _serializer.bool(obj.success, buffer, bufferOffset);
+    // Serialize message field [message]
+    bufferOffset = _serializer.string(obj.message, buffer, bufferOffset);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type SetStringResponse
+    let len;
+    let data = new SetStringResponse(null);
+    // Deserialize message field [success]
+    data.success = _deserializer.bool(buffer, bufferOffset);
+    // Deserialize message field [message]
+    data.message = _deserializer.string(buffer, bufferOffset);
+    return data;
+  }
+
+  static getMessageSize(object) {
+    let length = 0;
+    length += _getByteLength(object.message);
+    return length + 5;
+  }
+
+  static datatype() {
+    // Returns string type for a service object
+    return 'astra_camera/SetStringResponse';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '937c9679a518e3a18d831e57125ea522';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    bool success
+    string message
+    
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new SetStringResponse(null);
+    if (msg.success !== undefined) {
+      resolved.success = msg.success;
+    }
+    else {
+      resolved.success = false
+    }
+
+    if (msg.message !== undefined) {
+      resolved.message = msg.message;
+    }
+    else {
+      resolved.message = ''
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = {
+  Request: SetStringRequest,
+  Response: SetStringResponse,
+  md5sum() { return '546971982e3fbbd5a41e60fb6432e357'; },
+  datatype() { return 'astra_camera/SetString'; }
+};

camera_ws/devel/share/gennodejs/ros/astra_camera/srv/_index.js

@@ -0,0 +1,24 @@
+
+"use strict";
+
+let GetString = require('./GetString.js')
+let GetBool = require('./GetBool.js')
+let SetString = require('./SetString.js')
+let GetInt32 = require('./GetInt32.js')
+let GetDouble = require('./GetDouble.js')
+let GetDeviceInfo = require('./GetDeviceInfo.js')
+let SetInt32 = require('./SetInt32.js')
+let GetCameraParams = require('./GetCameraParams.js')
+let GetCameraInfo = require('./GetCameraInfo.js')
+
+module.exports = {
+  GetString: GetString,
+  GetBool: GetBool,
+  SetString: SetString,
+  GetInt32: GetInt32,
+  GetDouble: GetDouble,
+  GetDeviceInfo: GetDeviceInfo,
+  SetInt32: SetInt32,
+  GetCameraParams: GetCameraParams,
+  GetCameraInfo: GetCameraInfo,
+};

camera_ws/devel/share/gennodejs/ros/realsense2_camera/_index.js

@@ -0,0 +1,7 @@
+
+"use strict";
+
+module.exports = {
+  msg: require('./msg/_index.js'),
+  srv: require('./srv/_index.js')
+};

camera_ws/devel/share/gennodejs/ros/realsense2_camera/msg/Extrinsics.js

@@ -0,0 +1,153 @@
+// Auto-generated. Do not edit!
+
+// (in-package realsense2_camera.msg)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+let std_msgs = _finder('std_msgs');
+
+//-----------------------------------------------------------
+
+class Extrinsics {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.header = null;
+      this.rotation = null;
+      this.translation = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('header')) {
+        this.header = initObj.header
+      }
+      else {
+        this.header = new std_msgs.msg.Header();
+      }
+      if (initObj.hasOwnProperty('rotation')) {
+        this.rotation = initObj.rotation
+      }
+      else {
+        this.rotation = new Array(9).fill(0);
+      }
+      if (initObj.hasOwnProperty('translation')) {
+        this.translation = initObj.translation
+      }
+      else {
+        this.translation = new Array(3).fill(0);
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type Extrinsics
+    // Serialize message field [header]
+    bufferOffset = std_msgs.msg.Header.serialize(obj.header, buffer, bufferOffset);
+    // Check that the constant length array field [rotation] has the right length
+    if (obj.rotation.length !== 9) {
+      throw new Error('Unable to serialize array field rotation - length must be 9')
+    }
+    // Serialize message field [rotation]
+    bufferOffset = _arraySerializer.float64(obj.rotation, buffer, bufferOffset, 9);
+    // Check that the constant length array field [translation] has the right length
+    if (obj.translation.length !== 3) {
+      throw new Error('Unable to serialize array field translation - length must be 3')
+    }
+    // Serialize message field [translation]
+    bufferOffset = _arraySerializer.float64(obj.translation, buffer, bufferOffset, 3);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type Extrinsics
+    let len;
+    let data = new Extrinsics(null);
+    // Deserialize message field [header]
+    data.header = std_msgs.msg.Header.deserialize(buffer, bufferOffset);
+    // Deserialize message field [rotation]
+    data.rotation = _arrayDeserializer.float64(buffer, bufferOffset, 9)
+    // Deserialize message field [translation]
+    data.translation = _arrayDeserializer.float64(buffer, bufferOffset, 3)
+    return data;
+  }
+
+  static getMessageSize(object) {
+    let length = 0;
+    length += std_msgs.msg.Header.getMessageSize(object.header);
+    return length + 96;
+  }
+
+  static datatype() {
+    // Returns string type for a message object
+    return 'realsense2_camera/Extrinsics';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return '3627b43073f4cd5dd6dc179a49eda2ad';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    std_msgs/Header header
+    float64[9] rotation
+    float64[3] translation
+    
+    ================================================================================
+    MSG: std_msgs/Header
+    # Standard metadata for higher-level stamped data types.
+    # This is generally used to communicate timestamped data 
+    # in a particular coordinate frame.
+    # 
+    # sequence ID: consecutively increasing ID 
+    uint32 seq
+    #Two-integer timestamp that is expressed as:
+    # * stamp.sec: seconds (stamp_secs) since epoch (in Python the variable is called 'secs')
+    # * stamp.nsec: nanoseconds since stamp_secs (in Python the variable is called 'nsecs')
+    # time-handling sugar is provided by the client library
+    time stamp
+    #Frame this data is associated with
+    string frame_id
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new Extrinsics(null);
+    if (msg.header !== undefined) {
+      resolved.header = std_msgs.msg.Header.Resolve(msg.header)
+    }
+    else {
+      resolved.header = new std_msgs.msg.Header()
+    }
+
+    if (msg.rotation !== undefined) {
+      resolved.rotation = msg.rotation;
+    }
+    else {
+      resolved.rotation = new Array(9).fill(0)
+    }
+
+    if (msg.translation !== undefined) {
+      resolved.translation = msg.translation;
+    }
+    else {
+      resolved.translation = new Array(3).fill(0)
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = Extrinsics;

camera_ws/devel/share/gennodejs/ros/realsense2_camera/msg/IMUInfo.js

@@ -0,0 +1,159 @@
+// Auto-generated. Do not edit!
+
+// (in-package realsense2_camera.msg)
+
+
+"use strict";
+
+const _serializer = _ros_msg_utils.Serialize;
+const _arraySerializer = _serializer.Array;
+const _deserializer = _ros_msg_utils.Deserialize;
+const _arrayDeserializer = _deserializer.Array;
+const _finder = _ros_msg_utils.Find;
+const _getByteLength = _ros_msg_utils.getByteLength;
+
+//-----------------------------------------------------------
+
+class IMUInfo {
+  constructor(initObj={}) {
+    if (initObj === null) {
+      // initObj === null is a special case for deserialization where we don't initialize fields
+      this.frame_id = null;
+      this.data = null;
+      this.noise_variances = null;
+      this.bias_variances = null;
+    }
+    else {
+      if (initObj.hasOwnProperty('frame_id')) {
+        this.frame_id = initObj.frame_id
+      }
+      else {
+        this.frame_id = '';
+      }
+      if (initObj.hasOwnProperty('data')) {
+        this.data = initObj.data
+      }
+      else {
+        this.data = new Array(12).fill(0);
+      }
+      if (initObj.hasOwnProperty('noise_variances')) {
+        this.noise_variances = initObj.noise_variances
+      }
+      else {
+        this.noise_variances = new Array(3).fill(0);
+      }
+      if (initObj.hasOwnProperty('bias_variances')) {
+        this.bias_variances = initObj.bias_variances
+      }
+      else {
+        this.bias_variances = new Array(3).fill(0);
+      }
+    }
+  }
+
+  static serialize(obj, buffer, bufferOffset) {
+    // Serializes a message object of type IMUInfo
+    // Serialize message field [frame_id]
+    bufferOffset = _serializer.string(obj.frame_id, buffer, bufferOffset);
+    // Check that the constant length array field [data] has the right length
+    if (obj.data.length !== 12) {
+      throw new Error('Unable to serialize array field data - length must be 12')
+    }
+    // Serialize message field [data]
+    bufferOffset = _arraySerializer.float64(obj.data, buffer, bufferOffset, 12);
+    // Check that the constant length array field [noise_variances] has the right length
+    if (obj.noise_variances.length !== 3) {
+      throw new Error('Unable to serialize array field noise_variances - length must be 3')
+    }
+    // Serialize message field [noise_variances]
+    bufferOffset = _arraySerializer.float64(obj.noise_variances, buffer, bufferOffset, 3);
+    // Check that the constant length array field [bias_variances] has the right length
+    if (obj.bias_variances.length !== 3) {
+      throw new Error('Unable to serialize array field bias_variances - length must be 3')
+    }
+    // Serialize message field [bias_variances]
+    bufferOffset = _arraySerializer.float64(obj.bias_variances, buffer, bufferOffset, 3);
+    return bufferOffset;
+  }
+
+  static deserialize(buffer, bufferOffset=[0]) {
+    //deserializes a message object of type IMUInfo
+    let len;
+    let data = new IMUInfo(null);
+    // Deserialize message field [frame_id]
+    data.frame_id = _deserializer.string(buffer, bufferOffset);
+    // Deserialize message field [data]
+    data.data = _arrayDeserializer.float64(buffer, bufferOffset, 12)
+    // Deserialize message field [noise_variances]
+    data.noise_variances = _arrayDeserializer.float64(buffer, bufferOffset, 3)
+    // Deserialize message field [bias_variances]
+    data.bias_variances = _arrayDeserializer.float64(buffer, bufferOffset, 3)
+    return data;
+  }
+
+  static getMessageSize(object) {
+    let length = 0;
+    length += _getByteLength(object.frame_id);
+    return length + 148;
+  }
+
+  static datatype() {
+    // Returns string type for a message object
+    return 'realsense2_camera/IMUInfo';
+  }
+
+  static md5sum() {
+    //Returns md5sum for a message object
+    return 'a02adb3a99530b11ba18a16f40f9512a';
+  }
+
+  static messageDefinition() {
+    // Returns full string definition for message
+    return `
+    string frame_id
+    float64[12] data
+    float64[3] noise_variances
+    float64[3] bias_variances
+    
+    `;
+  }
+
+  static Resolve(msg) {
+    // deep-construct a valid message object instance of whatever was passed in
+    if (typeof msg !== 'object' || msg === null) {
+      msg = {};
+    }
+    const resolved = new IMUInfo(null);
+    if (msg.frame_id !== undefined) {
+      resolved.frame_id = msg.frame_id;
+    }
+    else {
+      resolved.frame_id = ''
+    }
+
+    if (msg.data !== undefined) {
+      resolved.data = msg.data;
+    }
+    else {
+      resolved.data = new Array(12).fill(0)
+    }
+
+    if (msg.noise_variances !== undefined) {
+      resolved.noise_variances = msg.noise_variances;
+    }
+    else {
+      resolved.noise_variances = new Array(3).fill(0)
+    }
+
+    if (msg.bias_variances !== undefined) {
+      resolved.bias_variances = msg.bias_variances;
+    }
+    else {
+      resolved.bias_variances = new Array(3).fill(0)
+    }
+
+    return resolved;
+    }
+};
+
+module.exports = IMUInfo;