Restored to the latest state due to data loss.

Signed-off-by: kozenikanta <[email protected]>

power_controller/power_controller/power_controller_kx/power_controller_kx/CMakeLists.txt

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+cmake_minimum_required(VERSION 3.8)
+project(power_controller)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(rclcpp REQUIRED)
+find_package(rclpy REQUIRED)
+find_package(ament_cmake_python REQUIRED)
+find_package(std_msgs REQUIRED)
+find_package(sensor_msgs REQUIRED)
+find_package(rosidl_default_generators REQUIRED)
+find_package(power_controller_msgs REQUIRED)
+find_package(std_srvs REQUIRED)
+
+
+add_executable(power_controller src/power_controller.cpp)
+
+target_include_directories(
+  power_controller
+  PUBLIC
+  $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
+  $<INSTALL_INTERFACE:include>)
+
+target_compile_features(power_controller PUBLIC c_std_99 cxx_std_17)  # Require C99 and C++17
+ament_target_dependencies(
+  power_controller
+  "rclcpp"
+  "rclpy"
+  "ament_cmake_python"
+  "std_msgs"
+  "sensor_msgs"
+  "rosidl_default_generators"
+  "power_controller_msgs"
+  "std_srvs"
+)
+
+install(TARGETS power_controller
+  DESTINATION lib/${PROJECT_NAME})
+
+# Install launch files.
+install(DIRECTORY
+  launch
+  DESTINATION share/${PROJECT_NAME}/
+  )
+
+if(BUILD_TESTING)
+  find_package(ament_cmake_copyright REQUIRED)
+  find_package(ament_cmake_cpplint REQUIRED)
+  find_package(ament_cmake_lint_cmake REQUIRED)
+  find_package(ament_cmake_uncrustify REQUIRED)
+
+  set(MAX_LINE_LENGTH 200)
+  ament_copyright()
+  ament_cpplint(MAX_LINE_LENGTH ${MAX_LINE_LENGTH})
+  ament_lint_cmake()
+  ament_uncrustify(MAX_LINE_LENGTH ${MAX_LINE_LENGTH})
+endif()
+
+ament_package()

power_controller/power_controller/power_controller_kx/power_controller_kx/README.md

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+# powe_controller-kx
+
+manage each power supply and output battery information via topic communication
+
+## Node
+  - power_controller
+
+## Services
+- **set_24v_power_odrive** (std_srvs::srv::SetBool)
+    - managing odrive's power supply
+- **set_12v_power_d455_front** (std_srvs::srv::SetBool)
+    - managing framos front power supply
+- **set_12v_power_d455_right** (std_srvs::srv::SetBool)
+    - managing framos right power supply
+- **set_12v_power_d455_left** (std_srvs::srv::SetBool)
+    - managing framos left power supply
+- **set_5v_power_mcu** (std_srvs::srv::SetBool)
+    - managing mcu power supply
+- **reboot** (std_srvs::srv::Empty)
+    - managing power supply
+- **shutdown** (std_srvs::srv::Empty)
+    - managing power supply
+
+
+
+    |power|`true`|`false`|behavior|
+    |---|---|---|---|
+    |set_24v_power_odrive|turn on odrive|turn off odrive|odrive power management|
+    |set_12v_power_d455_front|turn on front framos|turn off front framos|front framos power management|
+    |set_12v_power_d455_right|turn on right framos|turn off right framos|right framos power management|
+    |set_12v_power_d455_left|turn on left framos|turn off left framos|left framos power management|
+    |set_5v_power_mcu|turn on mcu|turn off mcu|mcu  power management|
+    |reboot|----|----|restart begins when called by client|
+    |shutdown|----|----|performs shutdown when called by the client|
+
+# Publisher
+ - **/battery_state** (power_controller_msgs::msg::BatteryArray): publish information on multiple batteries
+
+# Subscriber
+ - **/fan_controller** (std_msgs::msg::UInt8): fan is regulated using PWM control(0~100)
+
+# Parameters
+- **can_interface** (std::string): the interface of CAN can be changed
+- **number_of_batteries** (int): number of batteries can be changed

power_controller/power_controller/power_controller_kx/power_controller_kx/launch/power_controller_launch.py

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+'''
+ *******************************************************************************
+ * Copyright (c) 2024  Miraikan and Carnegie Mellon University
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+ *******************************************************************************
+ '''
+
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    # launchの構成を示すLaunchDescription型の変数の定義
+    ld = LaunchDescription()
+
+    # publisher nodeを、"talker_renamed1"という名前で定義
+    power_controller_node = Node(
+        package='power_controller',
+        executable='power_controller',
+        name='power_controller',
+        respawn="true"
+    )
+
+    ld.add_action(power_controller_node)
+    return ld

power_controller/power_controller/power_controller_kx/power_controller_kx/package.xml

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+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<!--
+ *******************************************************************************
+ * Copyright (c) 2024  Miraikan and Carnegie Mellon University
+ *
+ * Permission is hereby granted, free of charge, to any person obtaining a copy
+ * of this software and associated documentation files (the "Software"), to deal
+ * in the Software without restriction, including without limitation the rights
+ * to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the Software is
+ * furnished to do so, subject to the following conditions:
+ *
+ * The above copyright notice and this permission notice shall be included in
+ * all copies or substantial portions of the Software.
+ *
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
+ * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
+ * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
+ * AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
+ * LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
+ * OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
+ * THE SOFTWARE.
+*******************************************************************************
+-->
+
+<package format="3">
+  <name>power_controller</name>
+  <version>0.0.0</version>
+  <description>Node that controls battery information and each power source</description>
+  <maintainer email="[email protected]">developer</maintainer>
+  <license>MIT</license>
+
+  <buildtool_depend>ament_cmake</buildtool_depend>
+
+  <depend>rclcpp</depend>
+  <depend>rclpy</depend>
+  <depend>ament_cmake_python</depend>
+  <depend>std_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>power_controller_msgs</depend>
+  <depend>launch_ros</depend>
+  <build_depend>rosidl_default_generators</build_depend>
+
+  <test_depend>ament_lint_auto</test_depend>
+  <test_depend>ament_lint_common</test_depend>
+
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>