Initial commit

sensors/bms_driver_xinguang/include/bms_driver_core.h

@@ -0,0 +1,38 @@
+#include "ros/ros.h"
+#include "can_msgs/Frame.h"
+#include "sensor_msgs/BatteryState.h"
+
+#define __APP_NAME__ "bms_driver"
+
+#ifndef BMS_DRIVER_CORE_H
+#define BMS_DRIVER_CORE_H
+
+class BmsDriver{
+    public:
+        BmsDriver();
+        ~BmsDriver();
+        void run();
+
+    private:
+        ros::NodeHandle nh_;
+        ros::NodeHandle private_nh_;
+        ros::Timer timer_;
+        
+    private:
+        std::string input_bms_canframe_topic_;
+        std::string output_bms_canframe_topic_;
+        std::string output_battery_state_topic_;
+    
+    private:
+        sensor_msgs::BatteryState battery_state_;
+    
+    private:
+        ros::Subscriber can_bms_frame_sub_;
+        ros::Publisher battery_status_pub_;
+        ros::Publisher sent_bms_canframe_pub_;
+
+    private:
+        void can_frame_callback(const can_msgs::Frame::ConstPtr& msg);
+        void process(const ros::TimerEvent &e);
+    };
+#endif