Add ChargingStatus message (#64)

Author: pawelirh

CMakeLists.txt

@@ -10,7 +10,9 @@ find_package(builtin_interfaces REQUIRED)
 find_package(rosidl_default_generators REQUIRED)
 find_package(std_msgs REQUIRED)
 
-rosidl_generate_interfaces(${PROJECT_NAME}
+rosidl_generate_interfaces(
+  ${PROJECT_NAME}
+  "msg/ChargingStatus.msg"
   "msg/DriverState.msg"
   "msg/FaultFlag.msg"
   "msg/IOState.msg"
@@ -24,8 +26,8 @@ rosidl_generate_interfaces(${PROJECT_NAME}
   "srv/SetLEDAnimation.srv"
   "srv/SetLEDBrightness.srv"
   "srv/SetLEDImageAnimation.srv"
-  DEPENDENCIES std_msgs
-)
+  DEPENDENCIES
+  std_msgs)
 
 ament_export_dependencies(rosidl_default_runtime)
 

msg/ChargingStatus.msg

@@ -0,0 +1,13 @@
+# This message defines the battery charging process status 
+
+# Charger types
+uint8 UNKNOWN = 0
+uint8 WIRED = 1
+uint8 WIRELESS = 2
+
+std_msgs/Header header
+bool charging               # True if battery is being charged
+float32 current             # Power supply total current (A)
+float32 current_battery_1   # Power supply current (A) for battery 1
+float32 current_battery_2   # Power supply current (A) for battery 2 (NaN for single battery configuration)
+uint8 charger_type          # Determines the type of charger connection