watch_power.cpp

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#include <ros/ros.h>
#include <neo_msgs/PowerState.h>

class WatchVoltsNode
{
        public:
        WatchVoltsNode() : ten_min(60 * 10){};
        virtual ~WatchVoltsNode(){};
        ros::NodeHandle n;
        ros::Subscriber subs_volts;
        
        int init();
        void handlepower(const neo_msgs::PowerState& ps);
        private:
        ros::Duration ten_min;
};

int WatchVoltsNode::init()
{
        subs_volts = n.subscribe("/power_state", 1, &WatchVoltsNode::handlepower, this);
        return 0;
}

void WatchVoltsNode::handlepower(const neo_msgs::PowerState& ps)
{
        if(( ps.time_remaining) < ten_min)
        {
                ROS_ERROR("the batteries energy is low, the system is going to halt soon");
        }
}

int main (int argc, char **argv)
{
        ros::init(argc, argv, "power_watcher");
        WatchVoltsNode node;
        node.init();
        ros::spin();
}