add ros2 topics for battery percentage and power supply status

yoshikai-qt commented 3 months ago

バッテリ残量と充電状態をROS2のトピックで出力するようにしました。

coderabbitai[bot] commented 3 months ago

Walkthrough

この変更は、ros2/kachaka_grpc_ros2_bridgeパッケージのrobot_info_component.cppファイルにバッテリーステート情報を扱う機能を追加します。具体的には、sensor_msgs::msg::BatteryStateメッセージとkachaka_api::GetBatteryInfoResponseデータの間のブリッジを設定し、非同期操作の開始と停止を管理する機能が含まれています。

Changes

ファイルパス	変更内容の概要
ros2/kachaka_grpc_ros2_bridge/src/component/robot_info_component.cpp	`sensor_msgs::msg::BatteryState`のブリッジを追加し、非同期操作の開始と停止を管理する機能を統合。

Sequence Diagram(s) (Beta)

sequenceDiagram
    participant RobotInfoComponent
    participant KachakaApiStub
    participant ROS2TopicBridge

    RobotInfoComponent->>KachakaApiStub: getBatteryInfo()
    KachakaApiStub-->>RobotInfoComponent: GetBatteryInfoResponse
    RobotInfoComponent->>ROS2TopicBridge: Convert and Publish BatteryState
    ROS2TopicBridge-->>ROS2TopicBridge: StartAsync
    ROS2TopicBridge-->>ROS2TopicBridge: StopAsync

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hidai-pfr commented 3 months ago

すみません、run_docker.sh は弊社内部の docker imge を使っているので使えないようですね。 ./tools/lint/local_run.sh を Ubuntu 22.04 の環境で実行して頂くか、 docker buildx build -t kachaka-api.lint --load -f tools/lint/Dockerfile -f tools/lint/Dockerfile . してから tools/lint/run_docker.sh のイメージ名を kachaka-api.lint に書き換える、などの対処が必要そうです。

hidai-pfr commented 3 months ago

ありがとうございます。 CI の lint も通ったので、マージしておきます。

pf-robotics / kachaka-api