battery.cpp

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#include <muse_v2_driver/Miscellaneous.h>
#include <muse_v2_driver/Battery.h>
 
int main(int argc, char** argv)
{
    ros::init(argc, argv, "battery");
 
    ros::NodeHandle n;
 
    muse_v2_driver::Miscellaneous misc;
 
    misc.setupInputCommands(n);
 
    ros::ServiceClient client = n.serviceClient<muse_v2_driver::Battery>("battery");
 
    if (misc.input_command == misc.default_command_list) {
        ROS_ERROR("No request found.");
        ros::shutdown();
        return -1;
    }
 
    muse_v2_driver::Battery srv;
 
    if (misc.input_command.get_battery_charge) 
        srv.request.get_battery_charge = true;
 
    if (misc.input_command.get_battery_voltage)
        srv.request.get_battery_voltage = true;
 
    if (client.call(srv))
    {
        if (srv.request.get_battery_charge) 
            ROS_INFO("Battery charge (%%): %.2f", srv.response.battery_charge);
 
        if (srv.request.get_battery_voltage) 
            ROS_INFO("Battery voltage: %.2f", srv.response.battery_voltage);
    }
    else
    {
        ROS_ERROR("Failed to call battery service.");
        return 1;
    }
 
    return 0;
}