change message type to sensor messages

Author: Yara Shahin

battery_state_broadcaster/battery_state_broadcaster.xml

@@ -20,7 +20,7 @@ limitations under the License.
          type="battery_state_broadcaster::BatteryStateBroadcaster" base_class_type="controller_interface::ControllerInterface">
   <description>
     This controller publishes the individual battery state of each joint as sensor_msgs/BatteryState messages.
-    It also publishes the aggregated battery state of all joints as a single control_msgs/BatteryStates message.
+    It also publishes the aggregated battery state of all joints as a single sensor_msgs/BatteryStates message.
   </description>
   </class>
 </library>

battery_state_broadcaster/doc/userdoc.rst

@@ -27,7 +27,7 @@ Published Topics
 
 The broadcaster publishes two topics:
 
-- ``~/raw_battery_states`` (``control_msgs/msg/BatteryStates``)
+- ``~/raw_battery_states`` (``sensor_msgs/msg/BatteryStates``)
   Publishes **per-joint battery state messages**, containing the raw values for each configured joint.
 
 - ``~/battery_state`` (``sensor_msgs/msg/BatteryState``)

battery_state_broadcaster/include/battery_state_broadcaster/battery_state_broadcaster.hpp

@@ -29,8 +29,8 @@
 #include "realtime_tools/realtime_publisher.hpp"
 
 #include <battery_state_broadcaster/battery_state_broadcaster_parameters.hpp>
-#include "control_msgs/msg/battery_states.hpp"
 #include "sensor_msgs/msg/battery_state.hpp"
+#include "sensor_msgs/msg/battery_states.hpp"
 
 namespace battery_state_broadcaster
 {
@@ -93,7 +93,7 @@ class BatteryStateBroadcaster : public controller_interface::ControllerInterface
 
   std::shared_ptr<realtime_tools::RealtimePublisher<sensor_msgs::msg::BatteryState>>
     battery_state_realtime_publisher_;
-  std::shared_ptr<realtime_tools::RealtimePublisher<control_msgs::msg::BatteryStates>>
+  std::shared_ptr<realtime_tools::RealtimePublisher<sensor_msgs::msg::BatteryStates>>
     raw_battery_states_realtime_publisher_;
   struct BatteryInterfaceSums
   {
@@ -119,8 +119,7 @@ class BatteryStateBroadcaster : public controller_interface::ControllerInterface
 private:
   std::shared_ptr<battery_state_broadcaster::ParamListener> param_listener_;
   std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::BatteryState>> battery_state_publisher_;
-  std::shared_ptr<rclcpp::Publisher<control_msgs::msg::BatteryStates>>
-    raw_battery_states_publisher_;
+  std::shared_ptr<rclcpp::Publisher<sensor_msgs::msg::BatteryStates>> raw_battery_states_publisher_;
 
   std::vector<bool> battery_presence_;
 };

battery_state_broadcaster/src/battery_state_broadcaster.cpp

@@ -81,11 +81,11 @@ controller_interface::CallbackReturn BatteryStateBroadcaster::on_configure(
       std::make_shared<realtime_tools::RealtimePublisher<sensor_msgs::msg::BatteryState>>(
         battery_state_publisher_);
 
-    raw_battery_states_publisher_ = get_node()->create_publisher<control_msgs::msg::BatteryStates>(
+    raw_battery_states_publisher_ = get_node()->create_publisher<sensor_msgs::msg::BatteryStates>(
       "~/raw_battery_states", rclcpp::SystemDefaultsQoS());
 
     raw_battery_states_realtime_publisher_ =
-      std::make_shared<realtime_tools::RealtimePublisher<control_msgs::msg::BatteryStates>>(
+      std::make_shared<realtime_tools::RealtimePublisher<sensor_msgs::msg::BatteryStates>>(
         raw_battery_states_publisher_);
   }
   catch (const std::exception & e)

battery_state_broadcaster/test/test_battery_state_broadcaster.hpp

@@ -34,11 +34,11 @@
 #include "rclcpp/utilities.hpp"
 #include "rclcpp_lifecycle/node_interfaces/lifecycle_node_interface.hpp"
 
-#include "control_msgs/msg/battery_states.hpp"
 #include "sensor_msgs/msg/battery_state.hpp"
+#include "sensor_msgs/msg/battery_states.hpp"
 
 using BatteryStateMsg = sensor_msgs::msg::BatteryState;
-using RawBatteryStatesMsg = control_msgs::msg::BatteryStates;
+using RawBatteryStatesMsg = sensor_msgs::msg::BatteryStates;
 using sensor_msgs::msg::BatteryState;
 using testing::IsEmpty;
 using testing::SizeIs;
@@ -108,7 +108,7 @@ class BatteryStateBroadcasterTest : public ::testing::Test
 protected:
   // Controller-related parameters
   std::vector<std::string> state_joint_names_ = {"left_wheel", "right_wheel"};
-  std::array<double, 12> itfs_values_ = {
+  std::array<double, 12> itfs_values_ = {{
     5.0,     // 0 left_voltage
     60.0,    // 1 left_temperature
     6000.0,  // 2 left_charge
@@ -121,7 +121,7 @@ class BatteryStateBroadcasterTest : public ::testing::Test
     66.0,    // 9 right_percentage
     2.0,     // 10 right_status
     4.0      // 11 right_health
-  };
+  }};
   // std::array<double, 13> itfs_values_ = {{1.1, 2.2, 3.3, 4.4, 5.5, 6.6, 7.7, 8.8, 9.9, 10.10}};
 
   hardware_interface::StateInterface left_voltage_itf_{