revert battery message commit (#77)

ref: 45a7ae4
utexas-bwi · Jul 1, 2017 · e8505b4 · e8505b4
1 parent fcb5ecd
commit e8505b4
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Showing 8 changed files with 19 additions and 17 deletions.
diff --git a/segbot_bringup/package.xml b/segbot_bringup/package.xml
@@ -29,7 +29,7 @@
   <!-- segway_v3 packages commented out until released publicly -->
   <!-- <exec_depend>segway_msgs</exec_depend> -->
   <!-- <exec_depend>segway_ros</exec_depend> -->
-  <exec_depend>sensor_msgs</exec_depend>
+  <exec_depend>smart_battery_msgs</exec_depend>
   <exec_depend>stop_base</exec_depend>
   <exec_depend>tf</exec_depend>
   <exec_depend>xacro</exec_depend>

diff --git a/segbot_bringup/scripts/segbot_v3_controller b/segbot_bringup/scripts/segbot_v3_controller
@@ -11,7 +11,7 @@ from nav_msgs.msg import Odometry
 from segway_msgs.msg import ConfigCmd
 from segway_msgs.msg import Status
 from segway_msgs.msg import AuxPower
-from sensor_msgs.msg import BatteryState
+from smart_battery_msgs.msg import SmartBatteryStatus
 
 class Controller():
 

diff --git a/segbot_sensors/CMakeLists.txt b/segbot_sensors/CMakeLists.txt
@@ -15,6 +15,7 @@ find_package(catkin REQUIRED
     roscpp
     roslint
     sensor_msgs
+    smart_battery_msgs
     std_msgs
     tf)
 
@@ -34,6 +35,7 @@ catkin_package(
     nodelet
     pcl_ros
     sensor_msgs
+    smart_battery_msgs
     std_msgs
     tf
   INCLUDE_DIRS

diff --git a/segbot_sensors/README.rst b/segbot_sensors/README.rst
@@ -17,7 +17,7 @@ data from various attached sensors into ROS messages.
 Published topics
 ''''''''''''''''
 
-``battery0`` (`sensor_msgs/BatteryState`_)
+``battery0`` (`smart_battery_msgs/SmartBatteryStatus`_)
     Main segbot battery voltage measurements.
 
 ``imu0`` (`sensor_msgs/Imu`_)
@@ -79,5 +79,5 @@ To run both the ``arduino_driver`` and this node::
    http://docs.ros.org/api/sensor_msgs/html/msg/PointCloud2.html
 .. _`sensor_msgs/Range`:
    http://docs.ros.org/api/sensor_msgs/html/msg/Range.html
-.. _`sensor_msgs/BatteryState`:
-   http://docs.ros.org/api/sensor_msgs/html/msg/BatteryState.html
+.. _`smart_battery_msgs/SmartBatteryStatus`:
+   http://docs.ros.org/api/smart_battery_msgs/html/msg/SmartBatteryStatus.html
diff --git a/segbot_sensors/package.xml b/segbot_sensors/package.xml
@@ -27,6 +27,7 @@
   <depend>pluginlib</depend>
   <depend>roscpp</depend>
   <depend>sensor_msgs</depend>
+  <depend>smart_battery_msgs</depend>
   <depend>std_msgs</depend>
   <depend>tf</depend>
 

diff --git a/segbot_sensors/src/segbot_sensors/battery_diagnostics.cpp b/segbot_sensors/src/segbot_sensors/battery_diagnostics.cpp
@@ -13,7 +13,7 @@
 #include "diagnostic_msgs/DiagnosticStatus.h"
 #include "diagnostic_msgs/DiagnosticArray.h"
 #include "diagnostic_msgs/KeyValue.h"
-#include "sensor_msgs/BatteryState.h"
+#include "smart_battery_msgs/SmartBatteryStatus.h"
 #include <ros/package.h>
 #include <vector>
 #include <cmath>
@@ -27,7 +27,7 @@
 float voltage;
 double alpha;
 
-void voltageCallback(const sensor_msgs::BatteryState::ConstPtr& msg) {
+void voltageCallback(const smart_battery_msgs::SmartBatteryStatus::ConstPtr& msg) {
   voltage = alpha * msg->voltage + (1.0 - alpha) * voltage;
 }
 

diff --git a/segbot_sensors/src/segbot_sensors/fake_volt_pub.cpp b/segbot_sensors/src/segbot_sensors/fake_volt_pub.cpp
@@ -1,17 +1,17 @@
 #include "ros/ros.h"
 #include "std_msgs/String.h"
-#include "sensor_msgs/BatteryState.h"
+#include "smart_battery_msgs/SmartBatteryStatus.h"
 #include <sstream>
 
 int main(int argc, char **argv){
   ros::init(argc, argv, "talker");
   ros::NodeHandle n;
-  ros::Publisher chatter_pub = n.advertise<sensor_msgs::BatteryState>("/battery0", 1);
+  ros::Publisher chatter_pub = n.advertise<smart_battery_msgs::SmartBatteryStatus>("/battery0", 1);
   ros::Rate loop_rate(10);
 
   int count = 0;
   while (ros::ok()){
-    sensor_msgs::BatteryState stat;
+    smart_battery_msgs::SmartBatteryStatus stat;
     stat.voltage = 10.9;
     chatter_pub.publish(stat);
     ros::spinOnce();

diff --git a/segbot_sensors/src/segbot_sensors/voltmeter.py b/segbot_sensors/src/segbot_sensors/voltmeter.py
@@ -34,7 +34,7 @@
 """
 This module handles voltage messages from the Arduino Mega 2560
 mounted on BWI segbots, publishing them as ROS
-sensor_msgs/BatteryState messages.
+smart_battery_msgs/SmartBatteryStatus messages.
 """
 
 # enable some python3 compatibility options:
@@ -43,7 +43,7 @@
 import re
 
 import rospy
-from sensor_msgs.msg import BatteryState
+from smart_battery_msgs.msg import SmartBatteryStatus
 from geometry_msgs.msg import Vector3
 
 
@@ -56,16 +56,15 @@ def __init__(self):
         """ Extracts voltage reading from the Arduino serial message.
         :returns: voltage data string reported, may be empty.
         """
-        self.pub = rospy.Publisher('battery0', BatteryState,
+        self.pub = rospy.Publisher('battery0', SmartBatteryStatus,
                                    queue_size=1)
         # initialize constant fields in battery message
-        self.battery = BatteryState(
-            current=float('nan'),
+        self.battery = SmartBatteryStatus(
+            rate=float('nan'),
             charge=float('nan'),
             capacity=float('nan'),
             design_capacity=float('nan'),
-            percentage=float('nan'),
-            power_supply_status=BatteryState.POWER_SUPPLY_STATUS_DISCHARGING,
+            charge_state=SmartBatteryStatus.DISCHARGING,
             present=1)
 
     def publish(self, serial_msg):