text: #ifndef _ROS_SERVICE_SelfTest_h
  #define _ROS_SERVICE_SelfTest_h
  #include <stdint.h>
  #include <string.h>
  #include <stdlib.h>
  #include "ros/msg.h"
  #include "diagnostic_msgs/DiagnosticStatus.h"
  
  namespace diagnostic_msgs
  {
  
  static const char SELFTEST[] = "diagnostic_msgs/SelfTest";
  
    class SelfTestRequest : public ros::Msg
    {
      public:
  
      SelfTestRequest()
      {
      }
  
      virtual int serialize(unsigned char *outbuffer) const
      {
        int offset = 0;
        return offset;
      }
  
      virtual int deserialize(unsigned char *inbuffer)
      {
        int offset = 0;
       return offset;
      }
  
      const char * getType(){ return SELFTEST; };
      const char * getMD5(){ return "d41d8cd98f00b204e9800998ecf8427e"; };
  
    };
  
    class SelfTestResponse : public ros::Msg
    {
      public:
        typedef const char* _id_type;
        _id_type id;
        typedef int8_t _passed_type;
        _passed_type passed;
        uint32_t status_length;
        typedef diagnostic_msgs::DiagnosticStatus _status_type;
        _status_type st_status;
        _status_type * status;
  
      SelfTestResponse():
        id(""),
        passed(0),
        status_length(0), status(NULL)
      {
      }
  
      virtual int serialize(unsigned char *outbuffer) const
      {
        int offset = 0;
        uint32_t length_id = strlen(this->id);
        varToArr(outbuffer + offset, length_id);
        offset += 4;
        memcpy(outbuffer + offset, this->id, length_id);
        offset += length_id;
        union {
          int8_t real;
          uint8_t base;
        } u_passed;
        u_passed.real = this->passed;
        *(outbuffer + offset + 0) = (u_passed.base >> (8 * 0)) & 0xFF;
        offset += sizeof(this->passed);
        *(outbuffer + offset + 0) = (this->status_length >> (8 * 0)) & 0xFF;
        *(outbuffer + offset + 1) = (this->status_length >> (8 * 1)) & 0xFF;
        *(outbuffer + offset + 2) = (this->status_length >> (8 * 2)) & 0xFF;
        *(outbuffer + offset + 3) = (this->status_length >> (8 * 3)) & 0xFF;
        offset += sizeof(this->status_length);
        for( uint32_t i = 0; i < status_length; i++){
        offset += this->status[i].serialize(outbuffer + offset);
        }
        return offset;
      }
  
      virtual int deserialize(unsigned char *inbuffer)
      {
        int offset = 0;
        uint32_t length_id;
        arrToVar(length_id, (inbuffer + offset));
        offset += 4;
        for(unsigned int k= offset; k< offset+length_id; ++k){
            inbuffer[k-1]=inbuffer[k];
        }
        inbuffer[offset+length_id-1]=0;
        this->id = (char *)(inbuffer + offset-1);
        offset += length_id;
        union {
          int8_t real;
          uint8_t base;
        } u_passed;
        u_passed.base = 0;
        u_passed.base |= ((uint8_t) (*(inbuffer + offset + 0))) << (8 * 0);
        this->passed = u_passed.real;
        offset += sizeof(this->passed);
        uint32_t status_lengthT = ((uint32_t) (*(inbuffer + offset))); 
        status_lengthT |= ((uint32_t) (*(inbuffer + offset + 1))) << (8 * 1); 
        status_lengthT |= ((uint32_t) (*(inbuffer + offset + 2))) << (8 * 2); 
        status_lengthT |= ((uint32_t) (*(inbuffer + offset + 3))) << (8 * 3); 
        offset += sizeof(this->status_length);
        if(status_lengthT > status_length)
          this->status = (diagnostic_msgs::DiagnosticStatus*)realloc(this->status, status_lengthT * sizeof(diagnostic_msgs::DiagnosticStatus));
        status_length = status_lengthT;
        for( uint32_t i = 0; i < status_length; i++){
        offset += this->st_status.deserialize(inbuffer + offset);
          memcpy( &(this->status[i]), &(this->st_status), sizeof(diagnostic_msgs::DiagnosticStatus));
        }
       return offset;
      }
  
      const char * getType(){ return SELFTEST; };
      const char * getMD5(){ return "ac21b1bab7ab17546986536c22eb34e9"; };
  
    };
  
    class SelfTest {
      public:
      typedef SelfTestRequest Request;
      typedef SelfTestResponse Response;
    };
  
  }
  #endif
  