diff --git a/Go2Py/idl/Imu.idl b/Go2Py/idl/Imu.idl
new file mode 100644
index 0000000..e502d2e
--- /dev/null
+++ b/Go2Py/idl/Imu.idl
@@ -0,0 +1,9 @@
+module msgs{
+    struct Imu {
+        float q[4];
+        float gyro[3];
+        float accel[3];
+        float rpy[3];
+        octet tmp;
+    };
+};
\ No newline at end of file
diff --git a/Go2Py/idl/LowCmd.idl b/Go2Py/idl/LowCmd.idl
new file mode 100644
index 0000000..3c7e593
--- /dev/null
+++ b/Go2Py/idl/LowCmd.idl
@@ -0,0 +1,10 @@
+module msgs{
+    struct LowCmd {
+        float q[12];
+        float dq[12];
+        float tau_ff[12];
+        float kp[12];
+        float kv[12];
+        octet e_stop;
+    };
+};
\ No newline at end of file
diff --git a/Go2Py/idl/LowState.idl b/Go2Py/idl/LowState.idl
new file mode 100644
index 0000000..1fd2377
--- /dev/null
+++ b/Go2Py/idl/LowState.idl
@@ -0,0 +1,12 @@
+module msgs{
+    struct LowState {
+        float q[12];
+        float dq[12];
+        float ddq[12];
+        float tau_est[12];
+        float tmp[12];
+        float contact[4];
+        float voltage;
+        float current;
+    };
+};
\ No newline at end of file
diff --git a/Go2Py/idl/libcycloneddsidlcxx.so.0.10.2 b/Go2Py/idl/libcycloneddsidlcxx.so.0.10.2
new file mode 100755
index 0000000..267b6aa
Binary files /dev/null and b/Go2Py/idl/libcycloneddsidlcxx.so.0.10.2 differ
diff --git a/Go2Py/make_msgs.sh b/Go2Py/make_msgs.sh
new file mode 100755
index 0000000..8e1ce0f
--- /dev/null
+++ b/Go2Py/make_msgs.sh
@@ -0,0 +1,22 @@
+#!/bin/bash
+
+GREEN='\033[0;32m'
+NC='\033[0m' # No Color
+
+echo -e "${GREEN} Starting IDL type generation...${NC}"
+# Clean
+rm -r msgs
+# Make
+for file in idl/*.idl
+do
+    echo "Processing $file file..."
+    idlc -l py $file
+done
+mkdir msgs/cpp
+cd msgs/cpp
+for file in ../../idl/*.idl
+do
+    echo "Processing $file file..."
+    idlc -l ../../idl/libcycloneddsidlcxx.so.0.10.2 $file
+done
+echo -e "${GREEN} Done with LCM type generation${NC}"
\ No newline at end of file
diff --git a/Go2Py/msgs/.idlpy_manifest b/Go2Py/msgs/.idlpy_manifest
new file mode 100644
index 0000000..8ffd2a6
--- /dev/null
+++ b/Go2Py/msgs/.idlpy_manifest
@@ -0,0 +1,11 @@
+Imu
+
+Imu
+
+LowCmd
+
+LowCmd
+
+LowState
+
+LowState
diff --git a/Go2Py/msgs/_Imu.py b/Go2Py/msgs/_Imu.py
new file mode 100644
index 0000000..231946a
--- /dev/null
+++ b/Go2Py/msgs/_Imu.py
@@ -0,0 +1,31 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v0.11.0
+  Module: msgs
+  IDL file: Imu.idl
+
+"""
+
+from enum import auto
+from typing import TYPE_CHECKING, Optional
+from dataclasses import dataclass
+
+import cyclonedds.idl as idl
+import cyclonedds.idl.annotations as annotate
+import cyclonedds.idl.types as types
+
+# root module import for resolving types
+import msgs
+
+
+@dataclass
+@annotate.final
+@annotate.autoid("sequential")
+class Imu(idl.IdlStruct, typename="msgs.Imu"):
+    q: types.array[types.float32, 4]
+    gyro: types.array[types.float32, 3]
+    accel: types.array[types.float32, 3]
+    rpy: types.array[types.float32, 3]
+    tmp: types.uint8
+
+
diff --git a/Go2Py/msgs/_LowCmd.py b/Go2Py/msgs/_LowCmd.py
new file mode 100644
index 0000000..777fb93
--- /dev/null
+++ b/Go2Py/msgs/_LowCmd.py
@@ -0,0 +1,32 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v0.11.0
+  Module: msgs
+  IDL file: LowCmd.idl
+
+"""
+
+from enum import auto
+from typing import TYPE_CHECKING, Optional
+from dataclasses import dataclass
+
+import cyclonedds.idl as idl
+import cyclonedds.idl.annotations as annotate
+import cyclonedds.idl.types as types
+
+# root module import for resolving types
+import msgs
+
+
+@dataclass
+@annotate.final
+@annotate.autoid("sequential")
+class LowCmd(idl.IdlStruct, typename="msgs.LowCmd"):
+    q: types.array[types.float32, 12]
+    dq: types.array[types.float32, 12]
+    tau_ff: types.array[types.float32, 12]
+    kp: types.array[types.float32, 12]
+    kv: types.array[types.float32, 12]
+    e_stop: types.uint8
+
+
diff --git a/Go2Py/msgs/_LowState.py b/Go2Py/msgs/_LowState.py
new file mode 100644
index 0000000..8856e56
--- /dev/null
+++ b/Go2Py/msgs/_LowState.py
@@ -0,0 +1,34 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v0.11.0
+  Module: msgs
+  IDL file: LowState.idl
+
+"""
+
+from enum import auto
+from typing import TYPE_CHECKING, Optional
+from dataclasses import dataclass
+
+import cyclonedds.idl as idl
+import cyclonedds.idl.annotations as annotate
+import cyclonedds.idl.types as types
+
+# root module import for resolving types
+import msgs
+
+
+@dataclass
+@annotate.final
+@annotate.autoid("sequential")
+class LowState(idl.IdlStruct, typename="msgs.LowState"):
+    q: types.array[types.float32, 12]
+    dq: types.array[types.float32, 12]
+    ddq: types.array[types.float32, 12]
+    tau_est: types.array[types.float32, 12]
+    tmp: types.array[types.float32, 12]
+    contact: types.array[types.float32, 4]
+    voltage: types.float32
+    current: types.float32
+
+
diff --git a/Go2Py/msgs/__init__.py b/Go2Py/msgs/__init__.py
new file mode 100644
index 0000000..5a541f5
--- /dev/null
+++ b/Go2Py/msgs/__init__.py
@@ -0,0 +1,11 @@
+"""
+  Generated by Eclipse Cyclone DDS idlc Python Backend
+  Cyclone DDS IDL version: v0.11.0
+  Module: msgs
+
+"""
+
+from ._Imu import Imu
+from ._LowCmd import LowCmd
+from ._LowState import LowState
+__all__ = ["Imu", "LowCmd", "LowState", ]
diff --git a/Go2Py/msgs/cpp/Imu.cpp b/Go2Py/msgs/cpp/Imu.cpp
new file mode 100644
index 0000000..a5e6abd
--- /dev/null
+++ b/Go2Py/msgs/cpp/Imu.cpp
@@ -0,0 +1,57 @@
+/****************************************************************
+
+  Generated by Eclipse Cyclone DDS IDL to CXX Translator
+  File name: Imu.idl
+  Source: Imu.cpp
+  Cyclone DDS: v0.10.2
+
+*****************************************************************/
+#include "Imu.hpp"
+
+namespace org{
+namespace eclipse{
+namespace cyclonedds{
+namespace core{
+namespace cdr{
+
+template<>
+propvec &get_type_props<::msgs::Imu>() {
+  static thread_local std::mutex mtx;
+  static thread_local propvec props;
+  static thread_local entity_properties_t *props_end = nullptr;
+  static thread_local std::atomic_bool initialized {false};
+  key_endpoint keylist;
+  if (initialized.load(std::memory_order_relaxed)) {
+    auto ptr = props.data();
+    while (ptr < props_end)
+      (ptr++)->is_present = false;
+    return props;
+  }
+  std::lock_guard<std::mutex> lock(mtx);
+  if (initialized.load(std::memory_order_relaxed)) {
+    auto ptr = props.data();
+    while (ptr < props_end)
+      (ptr++)->is_present = false;
+    return props;
+  }
+  props.clear();
+
+  props.push_back(entity_properties_t(0, 0, false, bb_unset, extensibility::ext_final));  //root
+  props.push_back(entity_properties_t(1, 0, false, get_bit_bound<float>(), extensibility::ext_final, false));  //::q
+  props.push_back(entity_properties_t(1, 1, false, get_bit_bound<float>(), extensibility::ext_final, false));  //::gyro
+  props.push_back(entity_properties_t(1, 2, false, get_bit_bound<float>(), extensibility::ext_final, false));  //::accel
+  props.push_back(entity_properties_t(1, 3, false, get_bit_bound<float>(), extensibility::ext_final, false));  //::rpy
+  props.push_back(entity_properties_t(1, 4, false, get_bit_bound<uint8_t>(), extensibility::ext_final, false));  //::tmp
+
+  entity_properties_t::finish(props, keylist);
+  props_end = props.data() + props.size();
+  initialized.store(true, std::memory_order_release);
+  return props;
+}
+
+} //namespace cdr
+} //namespace core
+} //namespace cyclonedds
+} //namespace eclipse
+} //namespace org
+
diff --git a/Go2Py/msgs/cpp/Imu.hpp b/Go2Py/msgs/cpp/Imu.hpp
new file mode 100644
index 0000000..7ea97ff
--- /dev/null
+++ b/Go2Py/msgs/cpp/Imu.hpp
@@ -0,0 +1,491 @@
+/****************************************************************
+
+  Generated by Eclipse Cyclone DDS IDL to CXX Translator
+  File name: Imu.idl
+  Source: Imu.hpp
+  Cyclone DDS: v0.10.2
+
+*****************************************************************/
+#ifndef DDSCXX_IMU_HPP
+#define DDSCXX_IMU_HPP
+
+#include <cstdint>
+#include <array>
+
+namespace msgs
+{
+class Imu
+{
+private:
+ std::array<float, 4> q_ = { };
+ std::array<float, 3> gyro_ = { };
+ std::array<float, 3> accel_ = { };
+ std::array<float, 3> rpy_ = { };
+ uint8_t tmp_ = 0;
+
+public:
+  Imu() = default;
+
+  explicit Imu(
+    const std::array<float, 4>& q,
+    const std::array<float, 3>& gyro,
+    const std::array<float, 3>& accel,
+    const std::array<float, 3>& rpy,
+    uint8_t tmp) :
+    q_(q),
+    gyro_(gyro),
+    accel_(accel),
+    rpy_(rpy),
+    tmp_(tmp) { }
+
+  const std::array<float, 4>& q() const { return this->q_; }
+  std::array<float, 4>& q() { return this->q_; }
+  void q(const std::array<float, 4>& _val_) { this->q_ = _val_; }
+  void q(std::array<float, 4>&& _val_) { this->q_ = _val_; }
+  const std::array<float, 3>& gyro() const { return this->gyro_; }
+  std::array<float, 3>& gyro() { return this->gyro_; }
+  void gyro(const std::array<float, 3>& _val_) { this->gyro_ = _val_; }
+  void gyro(std::array<float, 3>&& _val_) { this->gyro_ = _val_; }
+  const std::array<float, 3>& accel() const { return this->accel_; }
+  std::array<float, 3>& accel() { return this->accel_; }
+  void accel(const std::array<float, 3>& _val_) { this->accel_ = _val_; }
+  void accel(std::array<float, 3>&& _val_) { this->accel_ = _val_; }
+  const std::array<float, 3>& rpy() const { return this->rpy_; }
+  std::array<float, 3>& rpy() { return this->rpy_; }
+  void rpy(const std::array<float, 3>& _val_) { this->rpy_ = _val_; }
+  void rpy(std::array<float, 3>&& _val_) { this->rpy_ = _val_; }
+  uint8_t tmp() const { return this->tmp_; }
+  uint8_t& tmp() { return this->tmp_; }
+  void tmp(uint8_t _val_) { this->tmp_ = _val_; }
+
+  bool operator==(const Imu& _other) const
+  {
+    (void) _other;
+    return q_ == _other.q_ &&
+      gyro_ == _other.gyro_ &&
+      accel_ == _other.accel_ &&
+      rpy_ == _other.rpy_ &&
+      tmp_ == _other.tmp_;
+  }
+
+  bool operator!=(const Imu& _other) const
+  {
+    return !(*this == _other);
+  }
+
+};
+
+}
+
+#include "dds/topic/TopicTraits.hpp"
+#include "org/eclipse/cyclonedds/topic/datatopic.hpp"
+
+namespace org {
+namespace eclipse {
+namespace cyclonedds {
+namespace topic {
+
+template <> constexpr const char* TopicTraits<::msgs::Imu>::getTypeName()
+{
+  return "msgs::Imu";
+}
+
+template <> constexpr bool TopicTraits<::msgs::Imu>::isKeyless()
+{
+  return true;
+}
+
+#ifdef DDSCXX_HAS_TYPE_DISCOVERY
+template<> constexpr unsigned int TopicTraits<::msgs::Imu>::type_map_blob_sz() { return 442; }
+template<> constexpr unsigned int TopicTraits<::msgs::Imu>::type_info_blob_sz() { return 100; }
+template<> inline const uint8_t * TopicTraits<::msgs::Imu>::type_map_blob() {
+  static const uint8_t blob[] = {
+ 0xab,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00,  0xf1,  0xab,  0x8a,  0x74,  0xa0,  0x59,  0x30,  0x63, 
+ 0x7f,  0xb3,  0x36,  0xe0,  0x64,  0x6f,  0xd3,  0x00,  0x93,  0x00,  0x00,  0x00,  0xf1,  0x51,  0x01,  0x00, 
+ 0x01,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x83,  0x00,  0x00,  0x00,  0x05,  0x00,  0x00,  0x00, 
+ 0x16,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00, 
+ 0x01,  0x00,  0x00,  0x00,  0x04,  0x09,  0x76,  0x94,  0xf4,  0xa6,  0x00,  0x00,  0x16,  0x00,  0x00,  0x00, 
+ 0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00, 
+ 0x03,  0x09,  0x41,  0xe1,  0xdb,  0x58,  0x00,  0x00,  0x16,  0x00,  0x00,  0x00,  0x02,  0x00,  0x00,  0x00, 
+ 0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00,  0x03,  0x09,  0x98,  0x30, 
+ 0x99,  0x65,  0x00,  0x00,  0x16,  0x00,  0x00,  0x00,  0x03,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3, 
+ 0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00,  0x03,  0x09,  0xb0,  0x7d,  0x92,  0xed,  0x00,  0x00, 
+ 0x0b,  0x00,  0x00,  0x00,  0x04,  0x00,  0x00,  0x00,  0x01,  0x00,  0x02,  0xfa,  0x81,  0x6e,  0xdb,  0x00, 
+ 0xde,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00,  0xf2,  0xa1,  0x90,  0x68,  0x0b,  0xcf,  0x24,  0x8c, 
+ 0xb4,  0x1b,  0xaa,  0x07,  0x8f,  0xf4,  0x93,  0x00,  0xc6,  0x00,  0x00,  0x00,  0xf2,  0x51,  0x01,  0x00, 
+ 0x12,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x0a,  0x00,  0x00,  0x00,  0x6d,  0x73,  0x67,  0x73, 
+ 0x3a,  0x3a,  0x49,  0x6d,  0x75,  0x00,  0x00,  0x00,  0xa6,  0x00,  0x00,  0x00,  0x05,  0x00,  0x00,  0x00, 
+ 0x1c,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00, 
+ 0x01,  0x00,  0x00,  0x00,  0x04,  0x09,  0x00,  0x00,  0x02,  0x00,  0x00,  0x00,  0x71,  0x00,  0x00,  0x00, 
+ 0x1f,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00, 
+ 0x01,  0x00,  0x00,  0x00,  0x03,  0x09,  0x00,  0x00,  0x05,  0x00,  0x00,  0x00,  0x67,  0x79,  0x72,  0x6f, 
+ 0x00,  0x00,  0x00,  0x00,  0x20,  0x00,  0x00,  0x00,  0x02,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3, 
+ 0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00,  0x03,  0x09,  0x00,  0x00,  0x06,  0x00,  0x00,  0x00, 
+ 0x61,  0x63,  0x63,  0x65,  0x6c,  0x00,  0x00,  0x00,  0x1e,  0x00,  0x00,  0x00,  0x03,  0x00,  0x00,  0x00, 
+ 0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00,  0x03,  0x09,  0x00,  0x00, 
+ 0x04,  0x00,  0x00,  0x00,  0x72,  0x70,  0x79,  0x00,  0x00,  0x00,  0x00,  0x00,  0x12,  0x00,  0x00,  0x00, 
+ 0x04,  0x00,  0x00,  0x00,  0x01,  0x00,  0x02,  0x00,  0x04,  0x00,  0x00,  0x00,  0x74,  0x6d,  0x70,  0x00, 
+ 0x00,  0x00,  0x00,  0x00,  0x22,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00,  0xf2,  0xa1,  0x90,  0x68, 
+ 0x0b,  0xcf,  0x24,  0x8c,  0xb4,  0x1b,  0xaa,  0x07,  0x8f,  0xf4,  0x93,  0xf1,  0xab,  0x8a,  0x74,  0xa0, 
+ 0x59,  0x30,  0x63,  0x7f,  0xb3,  0x36,  0xe0,  0x64,  0x6f,  0xd3, };
+  return blob;
+}
+template<> inline const uint8_t * TopicTraits<::msgs::Imu>::type_info_blob() {
+  static const uint8_t blob[] = {
+ 0x60,  0x00,  0x00,  0x00,  0x01,  0x10,  0x00,  0x40,  0x28,  0x00,  0x00,  0x00,  0x24,  0x00,  0x00,  0x00, 
+ 0x14,  0x00,  0x00,  0x00,  0xf1,  0xab,  0x8a,  0x74,  0xa0,  0x59,  0x30,  0x63,  0x7f,  0xb3,  0x36,  0xe0, 
+ 0x64,  0x6f,  0xd3,  0x00,  0x97,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x04,  0x00,  0x00,  0x00, 
+ 0x00,  0x00,  0x00,  0x00,  0x02,  0x10,  0x00,  0x40,  0x28,  0x00,  0x00,  0x00,  0x24,  0x00,  0x00,  0x00, 
+ 0x14,  0x00,  0x00,  0x00,  0xf2,  0xa1,  0x90,  0x68,  0x0b,  0xcf,  0x24,  0x8c,  0xb4,  0x1b,  0xaa,  0x07, 
+ 0x8f,  0xf4,  0x93,  0x00,  0xca,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x04,  0x00,  0x00,  0x00, 
+ 0x00,  0x00,  0x00,  0x00, };
+  return blob;
+}
+#endif //DDSCXX_HAS_TYPE_DISCOVERY
+
+} //namespace topic
+} //namespace cyclonedds
+} //namespace eclipse
+} //namespace org
+
+namespace dds {
+namespace topic {
+
+template <>
+struct topic_type_name<::msgs::Imu>
+{
+    static std::string value()
+    {
+      return org::eclipse::cyclonedds::topic::TopicTraits<::msgs::Imu>::getTypeName();
+    }
+};
+
+}
+}
+
+REGISTER_TOPIC_TYPE(::msgs::Imu)
+
+namespace org{
+namespace eclipse{
+namespace cyclonedds{
+namespace core{
+namespace cdr{
+
+template<>
+propvec &get_type_props<::msgs::Imu>();
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool write(T& streamer, const ::msgs::Imu& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!write(streamer, instance.q()[0], instance.q().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 1:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!write(streamer, instance.gyro()[0], instance.gyro().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 2:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!write(streamer, instance.accel()[0], instance.accel().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 3:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!write(streamer, instance.rpy()[0], instance.rpy().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 4:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!write(streamer, instance.tmp()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool write(S& str, const ::msgs::Imu& instance, bool as_key) {
+  auto &props = get_type_props<::msgs::Imu>();
+  str.set_mode(cdr_stream::stream_mode::write, as_key);
+  return write(str, instance, props.data()); 
+}
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool read(T& streamer, ::msgs::Imu& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!read(streamer, instance.q()[0], instance.q().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 1:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!read(streamer, instance.gyro()[0], instance.gyro().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 2:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!read(streamer, instance.accel()[0], instance.accel().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 3:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!read(streamer, instance.rpy()[0], instance.rpy().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 4:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!read(streamer, instance.tmp()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool read(S& str, ::msgs::Imu& instance, bool as_key) {
+  auto &props = get_type_props<::msgs::Imu>();
+  str.set_mode(cdr_stream::stream_mode::read, as_key);
+  return read(str, instance, props.data()); 
+}
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool move(T& streamer, const ::msgs::Imu& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!move(streamer, instance.q()[0], instance.q().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 1:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!move(streamer, instance.gyro()[0], instance.gyro().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 2:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!move(streamer, instance.accel()[0], instance.accel().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 3:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!move(streamer, instance.rpy()[0], instance.rpy().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 4:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!move(streamer, instance.tmp()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool move(S& str, const ::msgs::Imu& instance, bool as_key) {
+  auto &props = get_type_props<::msgs::Imu>();
+  str.set_mode(cdr_stream::stream_mode::move, as_key);
+  return move(str, instance, props.data()); 
+}
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool max(T& streamer, const ::msgs::Imu& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!max(streamer, instance.q()[0], instance.q().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 1:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!max(streamer, instance.gyro()[0], instance.gyro().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 2:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!max(streamer, instance.accel()[0], instance.accel().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 3:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!max(streamer, instance.rpy()[0], instance.rpy().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 4:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!max(streamer, instance.tmp()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool max(S& str, const ::msgs::Imu& instance, bool as_key) {
+  auto &props = get_type_props<::msgs::Imu>();
+  str.set_mode(cdr_stream::stream_mode::max, as_key);
+  return max(str, instance, props.data()); 
+}
+
+} //namespace cdr
+} //namespace core
+} //namespace cyclonedds
+} //namespace eclipse
+} //namespace org
+
+#endif // DDSCXX_IMU_HPP
diff --git a/Go2Py/msgs/cpp/LowCmd.cpp b/Go2Py/msgs/cpp/LowCmd.cpp
new file mode 100644
index 0000000..cda0954
--- /dev/null
+++ b/Go2Py/msgs/cpp/LowCmd.cpp
@@ -0,0 +1,58 @@
+/****************************************************************
+
+  Generated by Eclipse Cyclone DDS IDL to CXX Translator
+  File name: LowCmd.idl
+  Source: LowCmd.cpp
+  Cyclone DDS: v0.10.2
+
+*****************************************************************/
+#include "LowCmd.hpp"
+
+namespace org{
+namespace eclipse{
+namespace cyclonedds{
+namespace core{
+namespace cdr{
+
+template<>
+propvec &get_type_props<::msgs::LowCmd>() {
+  static thread_local std::mutex mtx;
+  static thread_local propvec props;
+  static thread_local entity_properties_t *props_end = nullptr;
+  static thread_local std::atomic_bool initialized {false};
+  key_endpoint keylist;
+  if (initialized.load(std::memory_order_relaxed)) {
+    auto ptr = props.data();
+    while (ptr < props_end)
+      (ptr++)->is_present = false;
+    return props;
+  }
+  std::lock_guard<std::mutex> lock(mtx);
+  if (initialized.load(std::memory_order_relaxed)) {
+    auto ptr = props.data();
+    while (ptr < props_end)
+      (ptr++)->is_present = false;
+    return props;
+  }
+  props.clear();
+
+  props.push_back(entity_properties_t(0, 0, false, bb_unset, extensibility::ext_final));  //root
+  props.push_back(entity_properties_t(1, 0, false, get_bit_bound<float>(), extensibility::ext_final, false));  //::q
+  props.push_back(entity_properties_t(1, 1, false, get_bit_bound<float>(), extensibility::ext_final, false));  //::dq
+  props.push_back(entity_properties_t(1, 2, false, get_bit_bound<float>(), extensibility::ext_final, false));  //::tau_ff
+  props.push_back(entity_properties_t(1, 3, false, get_bit_bound<float>(), extensibility::ext_final, false));  //::kp
+  props.push_back(entity_properties_t(1, 4, false, get_bit_bound<float>(), extensibility::ext_final, false));  //::kv
+  props.push_back(entity_properties_t(1, 5, false, get_bit_bound<uint8_t>(), extensibility::ext_final, false));  //::e_stop
+
+  entity_properties_t::finish(props, keylist);
+  props_end = props.data() + props.size();
+  initialized.store(true, std::memory_order_release);
+  return props;
+}
+
+} //namespace cdr
+} //namespace core
+} //namespace cyclonedds
+} //namespace eclipse
+} //namespace org
+
diff --git a/Go2Py/msgs/cpp/LowCmd.hpp b/Go2Py/msgs/cpp/LowCmd.hpp
new file mode 100644
index 0000000..3280bf5
--- /dev/null
+++ b/Go2Py/msgs/cpp/LowCmd.hpp
@@ -0,0 +1,552 @@
+/****************************************************************
+
+  Generated by Eclipse Cyclone DDS IDL to CXX Translator
+  File name: LowCmd.idl
+  Source: LowCmd.hpp
+  Cyclone DDS: v0.10.2
+
+*****************************************************************/
+#ifndef DDSCXX_LOWCMD_HPP
+#define DDSCXX_LOWCMD_HPP
+
+#include <cstdint>
+#include <array>
+
+namespace msgs
+{
+class LowCmd
+{
+private:
+ std::array<float, 12> q_ = { };
+ std::array<float, 12> dq_ = { };
+ std::array<float, 12> tau_ff_ = { };
+ std::array<float, 12> kp_ = { };
+ std::array<float, 12> kv_ = { };
+ uint8_t e_stop_ = 0;
+
+public:
+  LowCmd() = default;
+
+  explicit LowCmd(
+    const std::array<float, 12>& q,
+    const std::array<float, 12>& dq,
+    const std::array<float, 12>& tau_ff,
+    const std::array<float, 12>& kp,
+    const std::array<float, 12>& kv,
+    uint8_t e_stop) :
+    q_(q),
+    dq_(dq),
+    tau_ff_(tau_ff),
+    kp_(kp),
+    kv_(kv),
+    e_stop_(e_stop) { }
+
+  const std::array<float, 12>& q() const { return this->q_; }
+  std::array<float, 12>& q() { return this->q_; }
+  void q(const std::array<float, 12>& _val_) { this->q_ = _val_; }
+  void q(std::array<float, 12>&& _val_) { this->q_ = _val_; }
+  const std::array<float, 12>& dq() const { return this->dq_; }
+  std::array<float, 12>& dq() { return this->dq_; }
+  void dq(const std::array<float, 12>& _val_) { this->dq_ = _val_; }
+  void dq(std::array<float, 12>&& _val_) { this->dq_ = _val_; }
+  const std::array<float, 12>& tau_ff() const { return this->tau_ff_; }
+  std::array<float, 12>& tau_ff() { return this->tau_ff_; }
+  void tau_ff(const std::array<float, 12>& _val_) { this->tau_ff_ = _val_; }
+  void tau_ff(std::array<float, 12>&& _val_) { this->tau_ff_ = _val_; }
+  const std::array<float, 12>& kp() const { return this->kp_; }
+  std::array<float, 12>& kp() { return this->kp_; }
+  void kp(const std::array<float, 12>& _val_) { this->kp_ = _val_; }
+  void kp(std::array<float, 12>&& _val_) { this->kp_ = _val_; }
+  const std::array<float, 12>& kv() const { return this->kv_; }
+  std::array<float, 12>& kv() { return this->kv_; }
+  void kv(const std::array<float, 12>& _val_) { this->kv_ = _val_; }
+  void kv(std::array<float, 12>&& _val_) { this->kv_ = _val_; }
+  uint8_t e_stop() const { return this->e_stop_; }
+  uint8_t& e_stop() { return this->e_stop_; }
+  void e_stop(uint8_t _val_) { this->e_stop_ = _val_; }
+
+  bool operator==(const LowCmd& _other) const
+  {
+    (void) _other;
+    return q_ == _other.q_ &&
+      dq_ == _other.dq_ &&
+      tau_ff_ == _other.tau_ff_ &&
+      kp_ == _other.kp_ &&
+      kv_ == _other.kv_ &&
+      e_stop_ == _other.e_stop_;
+  }
+
+  bool operator!=(const LowCmd& _other) const
+  {
+    return !(*this == _other);
+  }
+
+};
+
+}
+
+#include "dds/topic/TopicTraits.hpp"
+#include "org/eclipse/cyclonedds/topic/datatopic.hpp"
+
+namespace org {
+namespace eclipse {
+namespace cyclonedds {
+namespace topic {
+
+template <> constexpr const char* TopicTraits<::msgs::LowCmd>::getTypeName()
+{
+  return "msgs::LowCmd";
+}
+
+template <> constexpr bool TopicTraits<::msgs::LowCmd>::isKeyless()
+{
+  return true;
+}
+
+#ifdef DDSCXX_HAS_TYPE_DISCOVERY
+template<> constexpr unsigned int TopicTraits<::msgs::LowCmd>::type_map_blob_sz() { return 518; }
+template<> constexpr unsigned int TopicTraits<::msgs::LowCmd>::type_info_blob_sz() { return 100; }
+template<> inline const uint8_t * TopicTraits<::msgs::LowCmd>::type_map_blob() {
+  static const uint8_t blob[] = {
+ 0xc7,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00,  0xf1,  0x99,  0xbb,  0x1c,  0xa1,  0x69,  0x8f,  0x02, 
+ 0x5f,  0xc8,  0x64,  0x19,  0x21,  0x0b,  0x6a,  0x00,  0xaf,  0x00,  0x00,  0x00,  0xf1,  0x51,  0x01,  0x00, 
+ 0x01,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x9f,  0x00,  0x00,  0x00,  0x06,  0x00,  0x00,  0x00, 
+ 0x16,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00, 
+ 0x01,  0x00,  0x00,  0x00,  0x0c,  0x09,  0x76,  0x94,  0xf4,  0xa6,  0x00,  0x00,  0x16,  0x00,  0x00,  0x00, 
+ 0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00, 
+ 0x0c,  0x09,  0x47,  0xbc,  0xdc,  0xd7,  0x00,  0x00,  0x16,  0x00,  0x00,  0x00,  0x02,  0x00,  0x00,  0x00, 
+ 0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00,  0x0c,  0x09,  0x16,  0xfc, 
+ 0x75,  0xc7,  0x00,  0x00,  0x16,  0x00,  0x00,  0x00,  0x03,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3, 
+ 0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00,  0x0c,  0x09,  0x26,  0xb5,  0x68,  0xe4,  0x00,  0x00, 
+ 0x16,  0x00,  0x00,  0x00,  0x04,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00, 
+ 0x01,  0x00,  0x00,  0x00,  0x0c,  0x09,  0x82,  0xd0,  0x91,  0x47,  0x00,  0x00,  0x0b,  0x00,  0x00,  0x00, 
+ 0x05,  0x00,  0x00,  0x00,  0x01,  0x00,  0x02,  0x41,  0x60,  0xe3,  0x55,  0x00,  0x0d,  0x01,  0x00,  0x00, 
+ 0x01,  0x00,  0x00,  0x00,  0xf2,  0x2b,  0x33,  0x3f,  0xba,  0x68,  0xf3,  0xc8,  0xf8,  0xfe,  0xcd,  0x5a, 
+ 0x4f,  0x81,  0xbf,  0x00,  0xf5,  0x00,  0x00,  0x00,  0xf2,  0x51,  0x01,  0x00,  0x15,  0x00,  0x00,  0x00, 
+ 0x00,  0x00,  0x00,  0x00,  0x0d,  0x00,  0x00,  0x00,  0x6d,  0x73,  0x67,  0x73,  0x3a,  0x3a,  0x4c,  0x6f, 
+ 0x77,  0x43,  0x6d,  0x64,  0x00,  0x00,  0x00,  0x00,  0xd1,  0x00,  0x00,  0x00,  0x06,  0x00,  0x00,  0x00, 
+ 0x1c,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00, 
+ 0x01,  0x00,  0x00,  0x00,  0x0c,  0x09,  0x00,  0x00,  0x02,  0x00,  0x00,  0x00,  0x71,  0x00,  0x00,  0x00, 
+ 0x1d,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00, 
+ 0x01,  0x00,  0x00,  0x00,  0x0c,  0x09,  0x00,  0x00,  0x03,  0x00,  0x00,  0x00,  0x64,  0x71,  0x00,  0x00, 
+ 0x00,  0x00,  0x00,  0x00,  0x21,  0x00,  0x00,  0x00,  0x02,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3, 
+ 0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00,  0x0c,  0x09,  0x00,  0x00,  0x07,  0x00,  0x00,  0x00, 
+ 0x74,  0x61,  0x75,  0x5f,  0x66,  0x66,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x1d,  0x00,  0x00,  0x00, 
+ 0x03,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00, 
+ 0x0c,  0x09,  0x00,  0x00,  0x03,  0x00,  0x00,  0x00,  0x6b,  0x70,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00, 
+ 0x1d,  0x00,  0x00,  0x00,  0x04,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00, 
+ 0x01,  0x00,  0x00,  0x00,  0x0c,  0x09,  0x00,  0x00,  0x03,  0x00,  0x00,  0x00,  0x6b,  0x76,  0x00,  0x00, 
+ 0x00,  0x00,  0x00,  0x00,  0x15,  0x00,  0x00,  0x00,  0x05,  0x00,  0x00,  0x00,  0x01,  0x00,  0x02,  0x00, 
+ 0x07,  0x00,  0x00,  0x00,  0x65,  0x5f,  0x73,  0x74,  0x6f,  0x70,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00, 
+ 0x22,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00,  0xf2,  0x2b,  0x33,  0x3f,  0xba,  0x68,  0xf3,  0xc8, 
+ 0xf8,  0xfe,  0xcd,  0x5a,  0x4f,  0x81,  0xbf,  0xf1,  0x99,  0xbb,  0x1c,  0xa1,  0x69,  0x8f,  0x02,  0x5f, 
+ 0xc8,  0x64,  0x19,  0x21,  0x0b,  0x6a, };
+  return blob;
+}
+template<> inline const uint8_t * TopicTraits<::msgs::LowCmd>::type_info_blob() {
+  static const uint8_t blob[] = {
+ 0x60,  0x00,  0x00,  0x00,  0x01,  0x10,  0x00,  0x40,  0x28,  0x00,  0x00,  0x00,  0x24,  0x00,  0x00,  0x00, 
+ 0x14,  0x00,  0x00,  0x00,  0xf1,  0x99,  0xbb,  0x1c,  0xa1,  0x69,  0x8f,  0x02,  0x5f,  0xc8,  0x64,  0x19, 
+ 0x21,  0x0b,  0x6a,  0x00,  0xb3,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x04,  0x00,  0x00,  0x00, 
+ 0x00,  0x00,  0x00,  0x00,  0x02,  0x10,  0x00,  0x40,  0x28,  0x00,  0x00,  0x00,  0x24,  0x00,  0x00,  0x00, 
+ 0x14,  0x00,  0x00,  0x00,  0xf2,  0x2b,  0x33,  0x3f,  0xba,  0x68,  0xf3,  0xc8,  0xf8,  0xfe,  0xcd,  0x5a, 
+ 0x4f,  0x81,  0xbf,  0x00,  0xf9,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x04,  0x00,  0x00,  0x00, 
+ 0x00,  0x00,  0x00,  0x00, };
+  return blob;
+}
+#endif //DDSCXX_HAS_TYPE_DISCOVERY
+
+} //namespace topic
+} //namespace cyclonedds
+} //namespace eclipse
+} //namespace org
+
+namespace dds {
+namespace topic {
+
+template <>
+struct topic_type_name<::msgs::LowCmd>
+{
+    static std::string value()
+    {
+      return org::eclipse::cyclonedds::topic::TopicTraits<::msgs::LowCmd>::getTypeName();
+    }
+};
+
+}
+}
+
+REGISTER_TOPIC_TYPE(::msgs::LowCmd)
+
+namespace org{
+namespace eclipse{
+namespace cyclonedds{
+namespace core{
+namespace cdr{
+
+template<>
+propvec &get_type_props<::msgs::LowCmd>();
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool write(T& streamer, const ::msgs::LowCmd& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!write(streamer, instance.q()[0], instance.q().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 1:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!write(streamer, instance.dq()[0], instance.dq().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 2:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!write(streamer, instance.tau_ff()[0], instance.tau_ff().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 3:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!write(streamer, instance.kp()[0], instance.kp().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 4:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!write(streamer, instance.kv()[0], instance.kv().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 5:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!write(streamer, instance.e_stop()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool write(S& str, const ::msgs::LowCmd& instance, bool as_key) {
+  auto &props = get_type_props<::msgs::LowCmd>();
+  str.set_mode(cdr_stream::stream_mode::write, as_key);
+  return write(str, instance, props.data()); 
+}
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool read(T& streamer, ::msgs::LowCmd& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!read(streamer, instance.q()[0], instance.q().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 1:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!read(streamer, instance.dq()[0], instance.dq().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 2:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!read(streamer, instance.tau_ff()[0], instance.tau_ff().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 3:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!read(streamer, instance.kp()[0], instance.kp().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 4:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!read(streamer, instance.kv()[0], instance.kv().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 5:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!read(streamer, instance.e_stop()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool read(S& str, ::msgs::LowCmd& instance, bool as_key) {
+  auto &props = get_type_props<::msgs::LowCmd>();
+  str.set_mode(cdr_stream::stream_mode::read, as_key);
+  return read(str, instance, props.data()); 
+}
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool move(T& streamer, const ::msgs::LowCmd& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!move(streamer, instance.q()[0], instance.q().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 1:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!move(streamer, instance.dq()[0], instance.dq().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 2:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!move(streamer, instance.tau_ff()[0], instance.tau_ff().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 3:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!move(streamer, instance.kp()[0], instance.kp().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 4:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!move(streamer, instance.kv()[0], instance.kv().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 5:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!move(streamer, instance.e_stop()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool move(S& str, const ::msgs::LowCmd& instance, bool as_key) {
+  auto &props = get_type_props<::msgs::LowCmd>();
+  str.set_mode(cdr_stream::stream_mode::move, as_key);
+  return move(str, instance, props.data()); 
+}
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool max(T& streamer, const ::msgs::LowCmd& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!max(streamer, instance.q()[0], instance.q().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 1:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!max(streamer, instance.dq()[0], instance.dq().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 2:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!max(streamer, instance.tau_ff()[0], instance.tau_ff().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 3:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!max(streamer, instance.kp()[0], instance.kp().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 4:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!max(streamer, instance.kv()[0], instance.kv().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 5:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!max(streamer, instance.e_stop()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool max(S& str, const ::msgs::LowCmd& instance, bool as_key) {
+  auto &props = get_type_props<::msgs::LowCmd>();
+  str.set_mode(cdr_stream::stream_mode::max, as_key);
+  return max(str, instance, props.data()); 
+}
+
+} //namespace cdr
+} //namespace core
+} //namespace cyclonedds
+} //namespace eclipse
+} //namespace org
+
+#endif // DDSCXX_LOWCMD_HPP
diff --git a/Go2Py/msgs/cpp/LowState.cpp b/Go2Py/msgs/cpp/LowState.cpp
new file mode 100644
index 0000000..dba5607
--- /dev/null
+++ b/Go2Py/msgs/cpp/LowState.cpp
@@ -0,0 +1,60 @@
+/****************************************************************
+
+  Generated by Eclipse Cyclone DDS IDL to CXX Translator
+  File name: LowState.idl
+  Source: LowState.cpp
+  Cyclone DDS: v0.10.2
+
+*****************************************************************/
+#include "LowState.hpp"
+
+namespace org{
+namespace eclipse{
+namespace cyclonedds{
+namespace core{
+namespace cdr{
+
+template<>
+propvec &get_type_props<::msgs::LowState>() {
+  static thread_local std::mutex mtx;
+  static thread_local propvec props;
+  static thread_local entity_properties_t *props_end = nullptr;
+  static thread_local std::atomic_bool initialized {false};
+  key_endpoint keylist;
+  if (initialized.load(std::memory_order_relaxed)) {
+    auto ptr = props.data();
+    while (ptr < props_end)
+      (ptr++)->is_present = false;
+    return props;
+  }
+  std::lock_guard<std::mutex> lock(mtx);
+  if (initialized.load(std::memory_order_relaxed)) {
+    auto ptr = props.data();
+    while (ptr < props_end)
+      (ptr++)->is_present = false;
+    return props;
+  }
+  props.clear();
+
+  props.push_back(entity_properties_t(0, 0, false, bb_unset, extensibility::ext_final));  //root
+  props.push_back(entity_properties_t(1, 0, false, get_bit_bound<float>(), extensibility::ext_final, false));  //::q
+  props.push_back(entity_properties_t(1, 1, false, get_bit_bound<float>(), extensibility::ext_final, false));  //::dq
+  props.push_back(entity_properties_t(1, 2, false, get_bit_bound<float>(), extensibility::ext_final, false));  //::ddq
+  props.push_back(entity_properties_t(1, 3, false, get_bit_bound<float>(), extensibility::ext_final, false));  //::tau_est
+  props.push_back(entity_properties_t(1, 4, false, get_bit_bound<float>(), extensibility::ext_final, false));  //::tmp
+  props.push_back(entity_properties_t(1, 5, false, get_bit_bound<float>(), extensibility::ext_final, false));  //::contact
+  props.push_back(entity_properties_t(1, 6, false, get_bit_bound<float>(), extensibility::ext_final, false));  //::voltage
+  props.push_back(entity_properties_t(1, 7, false, get_bit_bound<float>(), extensibility::ext_final, false));  //::current
+
+  entity_properties_t::finish(props, keylist);
+  props_end = props.data() + props.size();
+  initialized.store(true, std::memory_order_release);
+  return props;
+}
+
+} //namespace cdr
+} //namespace core
+} //namespace cyclonedds
+} //namespace eclipse
+} //namespace org
+
diff --git a/Go2Py/msgs/cpp/LowState.hpp b/Go2Py/msgs/cpp/LowState.hpp
new file mode 100644
index 0000000..4356439
--- /dev/null
+++ b/Go2Py/msgs/cpp/LowState.hpp
@@ -0,0 +1,653 @@
+/****************************************************************
+
+  Generated by Eclipse Cyclone DDS IDL to CXX Translator
+  File name: LowState.idl
+  Source: LowState.hpp
+  Cyclone DDS: v0.10.2
+
+*****************************************************************/
+#ifndef DDSCXX_LOWSTATE_HPP
+#define DDSCXX_LOWSTATE_HPP
+
+#include <array>
+
+namespace msgs
+{
+class LowState
+{
+private:
+ std::array<float, 12> q_ = { };
+ std::array<float, 12> dq_ = { };
+ std::array<float, 12> ddq_ = { };
+ std::array<float, 12> tau_est_ = { };
+ std::array<float, 12> tmp_ = { };
+ std::array<float, 4> contact_ = { };
+ float voltage_ = 0.0f;
+ float current_ = 0.0f;
+
+public:
+  LowState() = default;
+
+  explicit LowState(
+    const std::array<float, 12>& q,
+    const std::array<float, 12>& dq,
+    const std::array<float, 12>& ddq,
+    const std::array<float, 12>& tau_est,
+    const std::array<float, 12>& tmp,
+    const std::array<float, 4>& contact,
+    float voltage,
+    float current) :
+    q_(q),
+    dq_(dq),
+    ddq_(ddq),
+    tau_est_(tau_est),
+    tmp_(tmp),
+    contact_(contact),
+    voltage_(voltage),
+    current_(current) { }
+
+  const std::array<float, 12>& q() const { return this->q_; }
+  std::array<float, 12>& q() { return this->q_; }
+  void q(const std::array<float, 12>& _val_) { this->q_ = _val_; }
+  void q(std::array<float, 12>&& _val_) { this->q_ = _val_; }
+  const std::array<float, 12>& dq() const { return this->dq_; }
+  std::array<float, 12>& dq() { return this->dq_; }
+  void dq(const std::array<float, 12>& _val_) { this->dq_ = _val_; }
+  void dq(std::array<float, 12>&& _val_) { this->dq_ = _val_; }
+  const std::array<float, 12>& ddq() const { return this->ddq_; }
+  std::array<float, 12>& ddq() { return this->ddq_; }
+  void ddq(const std::array<float, 12>& _val_) { this->ddq_ = _val_; }
+  void ddq(std::array<float, 12>&& _val_) { this->ddq_ = _val_; }
+  const std::array<float, 12>& tau_est() const { return this->tau_est_; }
+  std::array<float, 12>& tau_est() { return this->tau_est_; }
+  void tau_est(const std::array<float, 12>& _val_) { this->tau_est_ = _val_; }
+  void tau_est(std::array<float, 12>&& _val_) { this->tau_est_ = _val_; }
+  const std::array<float, 12>& tmp() const { return this->tmp_; }
+  std::array<float, 12>& tmp() { return this->tmp_; }
+  void tmp(const std::array<float, 12>& _val_) { this->tmp_ = _val_; }
+  void tmp(std::array<float, 12>&& _val_) { this->tmp_ = _val_; }
+  const std::array<float, 4>& contact() const { return this->contact_; }
+  std::array<float, 4>& contact() { return this->contact_; }
+  void contact(const std::array<float, 4>& _val_) { this->contact_ = _val_; }
+  void contact(std::array<float, 4>&& _val_) { this->contact_ = _val_; }
+  float voltage() const { return this->voltage_; }
+  float& voltage() { return this->voltage_; }
+  void voltage(float _val_) { this->voltage_ = _val_; }
+  float current() const { return this->current_; }
+  float& current() { return this->current_; }
+  void current(float _val_) { this->current_ = _val_; }
+
+  bool operator==(const LowState& _other) const
+  {
+    (void) _other;
+    return q_ == _other.q_ &&
+      dq_ == _other.dq_ &&
+      ddq_ == _other.ddq_ &&
+      tau_est_ == _other.tau_est_ &&
+      tmp_ == _other.tmp_ &&
+      contact_ == _other.contact_ &&
+      voltage_ == _other.voltage_ &&
+      current_ == _other.current_;
+  }
+
+  bool operator!=(const LowState& _other) const
+  {
+    return !(*this == _other);
+  }
+
+};
+
+}
+
+#include "dds/topic/TopicTraits.hpp"
+#include "org/eclipse/cyclonedds/topic/datatopic.hpp"
+
+namespace org {
+namespace eclipse {
+namespace cyclonedds {
+namespace topic {
+
+template <> constexpr const char* TopicTraits<::msgs::LowState>::getTypeName()
+{
+  return "msgs::LowState";
+}
+
+template <> constexpr bool TopicTraits<::msgs::LowState>::isKeyless()
+{
+  return true;
+}
+
+#ifdef DDSCXX_HAS_TYPE_DISCOVERY
+template<> constexpr unsigned int TopicTraits<::msgs::LowState>::type_map_blob_sz() { return 630; }
+template<> constexpr unsigned int TopicTraits<::msgs::LowState>::type_info_blob_sz() { return 100; }
+template<> inline const uint8_t * TopicTraits<::msgs::LowState>::type_map_blob() {
+  static const uint8_t blob[] = {
+ 0xf3,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00,  0xf1,  0xd4,  0x69,  0x80,  0x35,  0xf5,  0x8b,  0x51, 
+ 0xea,  0x7f,  0x47,  0x3a,  0x7b,  0x09,  0x0f,  0x00,  0xdb,  0x00,  0x00,  0x00,  0xf1,  0x51,  0x01,  0x00, 
+ 0x01,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0xcb,  0x00,  0x00,  0x00,  0x08,  0x00,  0x00,  0x00, 
+ 0x16,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00, 
+ 0x01,  0x00,  0x00,  0x00,  0x0c,  0x09,  0x76,  0x94,  0xf4,  0xa6,  0x00,  0x00,  0x16,  0x00,  0x00,  0x00, 
+ 0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00, 
+ 0x0c,  0x09,  0x47,  0xbc,  0xdc,  0xd7,  0x00,  0x00,  0x16,  0x00,  0x00,  0x00,  0x02,  0x00,  0x00,  0x00, 
+ 0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00,  0x0c,  0x09,  0xe9,  0x16, 
+ 0x89,  0x09,  0x00,  0x00,  0x16,  0x00,  0x00,  0x00,  0x03,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3, 
+ 0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00,  0x0c,  0x09,  0x8a,  0xf7,  0xae,  0xdf,  0x00,  0x00, 
+ 0x16,  0x00,  0x00,  0x00,  0x04,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00, 
+ 0x01,  0x00,  0x00,  0x00,  0x0c,  0x09,  0xfa,  0x81,  0x6e,  0xdb,  0x00,  0x00,  0x16,  0x00,  0x00,  0x00, 
+ 0x05,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00, 
+ 0x04,  0x09,  0x2f,  0x8a,  0x6b,  0xf3,  0x00,  0x00,  0x0b,  0x00,  0x00,  0x00,  0x06,  0x00,  0x00,  0x00, 
+ 0x01,  0x00,  0x09,  0xe4,  0x37,  0xba,  0x43,  0x00,  0x0b,  0x00,  0x00,  0x00,  0x07,  0x00,  0x00,  0x00, 
+ 0x01,  0x00,  0x09,  0x43,  0xb5,  0xc9,  0x17,  0x00,  0x52,  0x01,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00, 
+ 0xf2,  0x84,  0x20,  0x63,  0xda,  0x5c,  0x28,  0xbb,  0x27,  0x92,  0xe4,  0x1c,  0xce,  0x56,  0xbc,  0x00, 
+ 0x3a,  0x01,  0x00,  0x00,  0xf2,  0x51,  0x01,  0x00,  0x17,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00, 
+ 0x0f,  0x00,  0x00,  0x00,  0x6d,  0x73,  0x67,  0x73,  0x3a,  0x3a,  0x4c,  0x6f,  0x77,  0x53,  0x74,  0x61, 
+ 0x74,  0x65,  0x00,  0x00,  0x16,  0x01,  0x00,  0x00,  0x08,  0x00,  0x00,  0x00,  0x1c,  0x00,  0x00,  0x00, 
+ 0x00,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00, 
+ 0x0c,  0x09,  0x00,  0x00,  0x02,  0x00,  0x00,  0x00,  0x71,  0x00,  0x00,  0x00,  0x1d,  0x00,  0x00,  0x00, 
+ 0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00, 
+ 0x0c,  0x09,  0x00,  0x00,  0x03,  0x00,  0x00,  0x00,  0x64,  0x71,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00, 
+ 0x1e,  0x00,  0x00,  0x00,  0x02,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00, 
+ 0x01,  0x00,  0x00,  0x00,  0x0c,  0x09,  0x00,  0x00,  0x04,  0x00,  0x00,  0x00,  0x64,  0x64,  0x71,  0x00, 
+ 0x00,  0x00,  0x00,  0x00,  0x22,  0x00,  0x00,  0x00,  0x03,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3, 
+ 0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00,  0x0c,  0x09,  0x00,  0x00,  0x08,  0x00,  0x00,  0x00, 
+ 0x74,  0x61,  0x75,  0x5f,  0x65,  0x73,  0x74,  0x00,  0x00,  0x00,  0x00,  0x00,  0x1e,  0x00,  0x00,  0x00, 
+ 0x04,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00, 
+ 0x0c,  0x09,  0x00,  0x00,  0x04,  0x00,  0x00,  0x00,  0x74,  0x6d,  0x70,  0x00,  0x00,  0x00,  0x00,  0x00, 
+ 0x22,  0x00,  0x00,  0x00,  0x05,  0x00,  0x00,  0x00,  0x01,  0x00,  0x90,  0xf3,  0x01,  0x00,  0x00,  0x00, 
+ 0x01,  0x00,  0x00,  0x00,  0x04,  0x09,  0x00,  0x00,  0x08,  0x00,  0x00,  0x00,  0x63,  0x6f,  0x6e,  0x74, 
+ 0x61,  0x63,  0x74,  0x00,  0x00,  0x00,  0x00,  0x00,  0x16,  0x00,  0x00,  0x00,  0x06,  0x00,  0x00,  0x00, 
+ 0x01,  0x00,  0x09,  0x00,  0x08,  0x00,  0x00,  0x00,  0x76,  0x6f,  0x6c,  0x74,  0x61,  0x67,  0x65,  0x00, 
+ 0x00,  0x00,  0x00,  0x00,  0x16,  0x00,  0x00,  0x00,  0x07,  0x00,  0x00,  0x00,  0x01,  0x00,  0x09,  0x00, 
+ 0x08,  0x00,  0x00,  0x00,  0x63,  0x75,  0x72,  0x72,  0x65,  0x6e,  0x74,  0x00,  0x00,  0x00,  0x00,  0x00, 
+ 0x22,  0x00,  0x00,  0x00,  0x01,  0x00,  0x00,  0x00,  0xf2,  0x84,  0x20,  0x63,  0xda,  0x5c,  0x28,  0xbb, 
+ 0x27,  0x92,  0xe4,  0x1c,  0xce,  0x56,  0xbc,  0xf1,  0xd4,  0x69,  0x80,  0x35,  0xf5,  0x8b,  0x51,  0xea, 
+ 0x7f,  0x47,  0x3a,  0x7b,  0x09,  0x0f, };
+  return blob;
+}
+template<> inline const uint8_t * TopicTraits<::msgs::LowState>::type_info_blob() {
+  static const uint8_t blob[] = {
+ 0x60,  0x00,  0x00,  0x00,  0x01,  0x10,  0x00,  0x40,  0x28,  0x00,  0x00,  0x00,  0x24,  0x00,  0x00,  0x00, 
+ 0x14,  0x00,  0x00,  0x00,  0xf1,  0xd4,  0x69,  0x80,  0x35,  0xf5,  0x8b,  0x51,  0xea,  0x7f,  0x47,  0x3a, 
+ 0x7b,  0x09,  0x0f,  0x00,  0xdf,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x04,  0x00,  0x00,  0x00, 
+ 0x00,  0x00,  0x00,  0x00,  0x02,  0x10,  0x00,  0x40,  0x28,  0x00,  0x00,  0x00,  0x24,  0x00,  0x00,  0x00, 
+ 0x14,  0x00,  0x00,  0x00,  0xf2,  0x84,  0x20,  0x63,  0xda,  0x5c,  0x28,  0xbb,  0x27,  0x92,  0xe4,  0x1c, 
+ 0xce,  0x56,  0xbc,  0x00,  0x3e,  0x01,  0x00,  0x00,  0x00,  0x00,  0x00,  0x00,  0x04,  0x00,  0x00,  0x00, 
+ 0x00,  0x00,  0x00,  0x00, };
+  return blob;
+}
+#endif //DDSCXX_HAS_TYPE_DISCOVERY
+
+} //namespace topic
+} //namespace cyclonedds
+} //namespace eclipse
+} //namespace org
+
+namespace dds {
+namespace topic {
+
+template <>
+struct topic_type_name<::msgs::LowState>
+{
+    static std::string value()
+    {
+      return org::eclipse::cyclonedds::topic::TopicTraits<::msgs::LowState>::getTypeName();
+    }
+};
+
+}
+}
+
+REGISTER_TOPIC_TYPE(::msgs::LowState)
+
+namespace org{
+namespace eclipse{
+namespace cyclonedds{
+namespace core{
+namespace cdr{
+
+template<>
+propvec &get_type_props<::msgs::LowState>();
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool write(T& streamer, const ::msgs::LowState& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!write(streamer, instance.q()[0], instance.q().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 1:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!write(streamer, instance.dq()[0], instance.dq().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 2:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!write(streamer, instance.ddq()[0], instance.ddq().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 3:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!write(streamer, instance.tau_est()[0], instance.tau_est().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 4:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!write(streamer, instance.tmp()[0], instance.tmp().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 5:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!write(streamer, instance.contact()[0], instance.contact().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 6:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!write(streamer, instance.voltage()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 7:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!write(streamer, instance.current()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool write(S& str, const ::msgs::LowState& instance, bool as_key) {
+  auto &props = get_type_props<::msgs::LowState>();
+  str.set_mode(cdr_stream::stream_mode::write, as_key);
+  return write(str, instance, props.data()); 
+}
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool read(T& streamer, ::msgs::LowState& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!read(streamer, instance.q()[0], instance.q().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 1:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!read(streamer, instance.dq()[0], instance.dq().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 2:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!read(streamer, instance.ddq()[0], instance.ddq().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 3:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!read(streamer, instance.tau_est()[0], instance.tau_est().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 4:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!read(streamer, instance.tmp()[0], instance.tmp().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 5:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!read(streamer, instance.contact()[0], instance.contact().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 6:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!read(streamer, instance.voltage()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 7:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!read(streamer, instance.current()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool read(S& str, ::msgs::LowState& instance, bool as_key) {
+  auto &props = get_type_props<::msgs::LowState>();
+  str.set_mode(cdr_stream::stream_mode::read, as_key);
+  return read(str, instance, props.data()); 
+}
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool move(T& streamer, const ::msgs::LowState& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!move(streamer, instance.q()[0], instance.q().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 1:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!move(streamer, instance.dq()[0], instance.dq().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 2:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!move(streamer, instance.ddq()[0], instance.ddq().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 3:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!move(streamer, instance.tau_est()[0], instance.tau_est().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 4:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!move(streamer, instance.tmp()[0], instance.tmp().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 5:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!move(streamer, instance.contact()[0], instance.contact().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 6:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!move(streamer, instance.voltage()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 7:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!move(streamer, instance.current()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool move(S& str, const ::msgs::LowState& instance, bool as_key) {
+  auto &props = get_type_props<::msgs::LowState>();
+  str.set_mode(cdr_stream::stream_mode::move, as_key);
+  return move(str, instance, props.data()); 
+}
+
+template<typename T, std::enable_if_t<std::is_base_of<cdr_stream, T>::value, bool> = true >
+bool max(T& streamer, const ::msgs::LowState& instance, entity_properties_t *props) {
+  (void)instance;
+  if (!streamer.start_struct(*props))
+    return false;
+  auto prop = streamer.first_entity(props);
+  while (prop) {
+    switch (prop->m_id) {
+      case 0:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!max(streamer, instance.q()[0], instance.q().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 1:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!max(streamer, instance.dq()[0], instance.dq().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 2:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!max(streamer, instance.ddq()[0], instance.ddq().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 3:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!max(streamer, instance.tau_est()[0], instance.tau_est().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 4:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!max(streamer, instance.tmp()[0], instance.tmp().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 5:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!streamer.start_consecutive(true, true))
+        return false;
+      if (!max(streamer, instance.contact()[0], instance.contact().size()))
+        return false;
+      if (!streamer.finish_consecutive())
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 6:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!max(streamer, instance.voltage()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+      case 7:
+      if (!streamer.start_member(*prop))
+        return false;
+      if (!max(streamer, instance.current()))
+        return false;
+      if (!streamer.finish_member(*prop))
+        return false;
+      break;
+    }
+    prop = streamer.next_entity(prop);
+  }
+  return streamer.finish_struct(*props);
+}
+
+template<typename S, std::enable_if_t<std::is_base_of<cdr_stream, S>::value, bool> = true >
+bool max(S& str, const ::msgs::LowState& instance, bool as_key) {
+  auto &props = get_type_props<::msgs::LowState>();
+  str.set_mode(cdr_stream::stream_mode::max, as_key);
+  return max(str, instance, props.data()); 
+}
+
+} //namespace cdr
+} //namespace core
+} //namespace cyclonedds
+} //namespace eclipse
+} //namespace org
+
+#endif // DDSCXX_LOWSTATE_HPP