Added some messages and Fix a bug from PathMsg

actionlib_msgs/GoalIDMsg.cs

@@ -0,0 +1,41 @@
+using ROSBridgeLib.std_msgs;
+using SimpleJSON;
+
+namespace ROSBridgeLib
+{
+    namespace actionlib_msgs
+    {
+        public class GoalIDMsg : ROSBridgeMsg
+        {
+            private TimeMsg time;
+            private string id;
+
+            public GoalIDMsg(JSONNode msg)
+            {
+                time = new TimeMsg(msg["stamp"]);
+                id = msg["id"].ToString();
+            }
+
+            public GoalIDMsg(TimeMsg _time, string _id)
+            {
+                time = _time;
+                id = _id;
+            }
+
+            public static string GetMessageType()
+            {
+                return "actionlib_msgs/GoalID";
+            }
+
+            public override string ToString()
+            {
+                return "actionlib_msgs/GoalID [ stamp: " + time.ToString() + "id: " + id + "}";
+            }
+
+            public override string ToYAMLString()
+            {
+                return "{\"stamp\": " + time.ToYAMLString() + ", \"id\": " + id + "}";
+            }
+        }
+    }
+}

actionlib_msgs/GoalStatusMsg.cs

@@ -0,0 +1,49 @@
+using ROSBridgeLib.std_msgs;
+using ROSBridgeLib.actionlib_msgs;
+using SimpleJSON;
+
+namespace ROSBridgeLib
+{
+    namespace actionlib_msgs
+    {
+        public class GoalStatusMsg : ROSBridgeMsg
+        {
+            private GoalIDMsg goal_id;
+            private int status;
+            private string text;
+            public GoalStatusMsg(JSONNode msg)
+            {
+                goal_id = new GoalIDMsg(msg["goal_id"]);
+                status = int.Parse(msg["status"]);
+                text = msg["text"];
+            }
+
+            public GoalStatusMsg(GoalIDMsg _goal_id, int _status, string _text)
+            {
+                goal_id = _goal_id;
+                status = _status;
+                text = _text;
+            }
+
+            public static string GetMessageType()
+            {
+                return "actionlib_msgs/GoalStatus";
+            }
+
+            public override string ToString()
+            {
+                return "actionlib_msgs/GoalStatus [goal_id=" + goal_id.ToString() + ", status=" + status.ToString() + ", text=" + text;
+            }
+
+            public override string ToYAMLString()
+            {
+                return "{\"goal_id\": " + goal_id.ToYAMLString() + ", \"status\": " + status.ToString() + ", \"text\": " + text + "}";
+            }
+
+            public StatusType GetStatus()
+            {
+                return (StatusType)status;
+            }
+        }
+    }
+}

actionlib_msgs/GoalStatusType.cs

@@ -0,0 +1,24 @@
+namespace ROSBridgeLib
+{
+    namespace actionlib_msgs
+    {
+        public enum StatusType
+        {
+            PENDING,    // The goal has yet to be processed by the action server.
+            ACTIVE,     // The goal is currently being processed by the action server
+            PREEMPTED,  // The goal received a cancel request after it started executing 
+                        //    and has since completed its execution (Terminal State)
+            SUCCEEDED,  // The goal was achieved successfully by the action server (Terminal State)
+            REJECTED,   // The goal was aborted during execution by the action server due to some failure (Terminal State)
+            PREEMPTING, // The goal received a cancel request after it started executing
+                        //    and has not yet completed execution
+            RECALLING,  // The goal received a cancel request before it started executing,
+                        //    but the action server has not yet confirmed that the goal is canceled
+            RECALLED,   // The goal received a cancel request before it started executing
+                        //    and was successfully cancelled (Terminal State)
+            LOST        // An action client can determine that a goal is LOST. This should not be
+                        //    sent over the wire by an action server
+        }
+
+    }
+}

geometry_msgs/PointMsg.cs

@@ -43,6 +43,10 @@ public float GetY() {
 			public float GetZ() {
 				return _z;
 			}
+
+			public Vector3 GetVector3() {
+				return new Vector3(_x, _y, _z);
+			}
 
 			public override string ToString() {
 				return "geometry_msgs/Point [x=" + _x + ",  y=" + _y + ", z=" + _z + "]";

geometry_msgs/PoseMsg.cs

@@ -12,8 +12,8 @@
 namespace ROSBridgeLib {
 	namespace geometry_msgs {
 		public class PoseMsg : ROSBridgeMsg {
-			public PointMsg _position;
-			public QuaternionMsg _orientation;
+			private PointMsg _position;
+			private QuaternionMsg _orientation;
 
 			public PoseMsg(JSONNode msg) {
                 _position = new PointMsg(msg["position"]);

geometry_msgs/PoseWithCovarianceMsg.cs

@@ -10,7 +10,7 @@
 namespace ROSBridgeLib {
 	namespace geometry_msgs {
 		public class PoseWithCovarianceMsg : ROSBridgeMsg {
-			public PoseMsg _pose;
+			private PoseMsg _pose;
 			private double[] _covariance = new double[36] {0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 
 														   0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 
 														   0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 

geometry_msgs/PoseWithCovarianceStampedMsg.cs

@@ -0,0 +1,50 @@
+using ROSBridgeLib.geometry_msgs;
+using ROSBridgeLib.std_msgs;
+
+using SimpleJSON;
+
+namespace ROSBridgeLib
+{
+    namespace geometry_msgs {
+        class PoseWithCovarianceStampedMsg : ROSBridgeMsg{
+            private HeaderMsg header;
+            private PoseWithCovarianceMsg pose;
+
+            public PoseWithCovarianceStampedMsg(JSONNode msg)
+            {
+                header = new HeaderMsg(msg["header"]);
+                pose = new PoseWithCovarianceMsg(msg["pose"]);
+            }
+
+            public PoseWithCovarianceStampedMsg(HeaderMsg _header, PoseWithCovarianceMsg _pose)
+            {
+                header = _header;
+                pose = _pose;
+            }
+
+            public static string GetMessageType()
+            {
+                return "geometry_msgs/PoseWithCovarianceStamped";
+            }
+
+            public override string ToString()
+            {
+                return "geometry_msgs/PoseWithCovarianceStamped [header=" + header.ToString() + ", pose=" + pose.ToString() + "]";
+            }
+
+            public override string ToYAMLString()
+            {
+                return "{\"header\": " + header.ToYAMLString() + ", \"pose\": " + pose.ToYAMLString() + "}";
+            }
+
+            public PointMsg GetPosition()
+            {
+                return pose.GetPose().GetPosition();
+            }
+            public QuaternionMsg GetRotation()
+            {
+                return pose.GetPose().GetOrientation();
+            }
+        }
+    }
+}

geometry_msgs/QuaternionMsg.cs

@@ -1,7 +1,7 @@
 using System.Collections;
 using System.Text;
 using SimpleJSON;
-
+using UnityEngine;
 /**
  * Define a geometry_msgs quaternion message. This has been hand-crafted from the corresponding
  * geometry_msgs message file.
@@ -47,6 +47,10 @@ public float GetZ() {
 			public float GetW() {
 				return _w;
 			}
+
+			public Quaternion GetQuaternion() {
+				return new Quaternion(_x, _y, _z, _w);
+			}
 
 			public override string ToString() {
 				return "geometry_msgs/Quaternion [x=" + _x + ",  y=" + _y + ", z=" + _z + ", w=" + _w + "]";

move_base_msgs/MoveBaseActionGoalMsg.cs

@@ -0,0 +1,59 @@
+using ROSBridgeLib.std_msgs;
+using ROSBridgeLib.actionlib_msgs;
+using ROSBridgeLib.geometry_msgs;
+using SimpleJSON;
+
+namespace ROSBridgeLib
+{
+    namespace move_base_msgs
+    {
+        public class MoveBaseActionGoalMsg : ROSBridgeMsg
+        {
+            private HeaderMsg header;
+            private GoalIDMsg goal_id;
+            private MoveBaseGoalMsg goal;
+            public MoveBaseActionGoalMsg(JSONNode msg)
+            {
+                header = new HeaderMsg(msg["header"]);
+                goal_id = new GoalIDMsg(msg["goal_id"]);
+                goal = new MoveBaseGoalMsg(msg["goal"]);
+            }
+
+            public MoveBaseActionGoalMsg(HeaderMsg _header, GoalIDMsg _goal_id, MoveBaseGoalMsg _goal)
+            {
+                header = _header;
+                goal_id = _goal_id;
+                goal = _goal;
+            }
+
+            public static string GetMessageType()
+            {
+                return "move_base_msgs/MoveBaseActionGoal";
+            }
+
+            public override string ToString()
+            {
+                return "move_base_msgs/MoveBaseActionGoal [header=" + header.ToString() +
+                                                        ", goal_id=" + goal_id.ToString() +
+                                                        ", goal=" + goal.ToString();
+            }
+
+            public override string ToYAMLString()
+            {
+                return "{\"header\": " + header.ToYAMLString() +
+                        "\"goal_id\": " + goal_id.ToYAMLString() +
+                        "\"goal\": " + goal.ToYAMLString() + "}";
+            }
+
+            public MoveBaseGoalMsg GetGoal()
+            {
+                return goal;
+            }
+
+            public PoseStampedMsg GetGoalPose()
+            {
+                return goal.GetTargetPose();
+            }
+        }
+    }
+}

move_base_msgs/MoveBaseGoalMsg.cs

@@ -0,0 +1,45 @@
+using ROSBridgeLib.std_msgs;
+using ROSBridgeLib.geometry_msgs;
+using SimpleJSON;
+
+namespace ROSBridgeLib
+{
+    namespace move_base_msgs
+    {
+        public class MoveBaseGoalMsg : ROSBridgeMsg
+        {
+            private PoseStampedMsg target_pose;
+            public MoveBaseGoalMsg(JSONNode msg)
+            {
+                target_pose = new PoseStampedMsg(msg["target_pose"]);
+            }
+
+            public MoveBaseGoalMsg(PoseStampedMsg _target_pose)
+            {
+                target_pose = _target_pose;
+            }
+
+            public static string GetMessageType()
+            {
+                return "move_base_msgs/MoveBaseGoal";
+            }
+
+            public override string ToString()
+            {
+                return "move_base_msgs/MoveBaseGoal [target_pose=" + target_pose.ToString();
+            }
+
+
+            public override string ToYAMLString()
+            {
+                return "{\"target_pose\":" + target_pose.ToYAMLString() + "}";
+            }
+
+            public PoseStampedMsg GetTargetPose()
+            {
+                return target_pose;
+            }
+
+        }
+    }
+}

move_base_msgs/MoveBaseResultMsg.cs

@@ -0,0 +1,43 @@
+using ROSBridgeLib.std_msgs;
+using ROSBridgeLib.geometry_msgs;
+using SimpleJSON;
+
+namespace ROSBridgeLib
+{
+    namespace move_base_msgs
+    {
+        public class MoveBaseResultMsg : ROSBridgeMsg
+        {
+            private string res;
+            public MoveBaseResultMsg(JSONNode msg)
+            {
+                res = msg.ToString();
+            }
+
+            public MoveBaseResultMsg(string _res)
+            {
+                res = _res;
+            }
+
+            public static string GetMessageType()
+            {
+                return "move_base_msgs/MoveBaseResult";
+            }
+
+            public override string ToString()
+            {
+                return "move_base_msgs/MoveBaseResult [" + res + "]";
+            }
+
+            public override string ToYAMLString()
+            {
+                return "{" + res + "}";
+            }
+
+            public string GetResult()
+            {
+                return res;
+            }
+        }
+    }
+}