Capacitor Can run now

Author: Raventhatfly

execution/super_capacitor/CMakeLists.txt

@@ -39,7 +39,38 @@ ament_target_dependencies(super_capacitor
   meta_hardware
 )
 
-pluginlib_export_plugin_description_file(super_capacitor_base plugins.xml)
+# ament_export_libraries(
+#   super_capacitor
+# )
+# ament_export_targets(
+#   export_${PROJECT_NAME}
+# )
+
+
+
+pluginlib_export_plugin_description_file(super_capacitor plugins.xml)
+
+install(DIRECTORY launch
+  DESTINATION share/${PROJECT_NAME}/
+)
+
+# install(TARGETS super_capacitor
+#   LIBRARY DESTINATION lib
+# )
+install(
+  TARGETS super_capacitor
+  EXPORT export_${PROJECT_NAME}
+  ARCHIVE DESTINATION lib
+  LIBRARY DESTINATION lib
+  RUNTIME DESTINATION bin
+)
+
+ament_export_libraries(
+  super_capacitor
+)
+ament_export_targets(
+  export_${PROJECT_NAME}
+)
 
 if(BUILD_TESTING)
   find_package(ament_lint_auto REQUIRED)

execution/super_capacitor/launch/capacitor.launch.py

@@ -0,0 +1,43 @@
+# Copyright 2021 Open Source Robotics Foundation, Inc.
+#
+# Licensed under the Apache License, Version 2.0 (the "License");
+# you may not use this file except in compliance with the License.
+# You may obtain a copy of the License at
+#
+#     http://www.apache.org/licenses/LICENSE-2.0
+#
+# Unless required by applicable law or agreed to in writing, software
+# distributed under the License is distributed on an "AS IS" BASIS,
+# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+# See the License for the specific language governing permissions and
+# limitations under the License.
+
+
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, ExecuteProcess, IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import Command, FindExecutable, LaunchConfiguration, PathJoinSubstitution
+from launch.conditions import IfCondition, UnlessCondition
+
+from launch_ros.actions import Node
+from launch_ros.substitutions import FindPackageShare
+
+# Necessary dirty work that lets us import modules from the meta_bringup package
+import os
+import sys
+from ament_index_python.packages import get_package_share_directory
+sys.path.append(os.path.join(get_package_share_directory('super_capacitor'), 'launch'))
+
+def generate_launch_description():
+    # Launch Arguments
+
+    node_capacitor_controller = Node(
+        package='super_capacitor',
+        executable='super_capacitor_node',
+        output = "both",
+        emulate_tty=True
+    ) 
+
+    return LaunchDescription([
+        node_capacitor_controller
+    ])

execution/super_capacitor/package.xml

@@ -18,6 +18,8 @@
   <depend>device_interface</depend>
   <depend>meta_hardware</depend>
 
+  <exec_depend>ros2launch</exec_depend>
+
   <export>
     <build_type>ament_cmake</build_type>
   </export>

execution/super_capacitor/src/super_capacitor_controller.cpp

@@ -75,4 +75,8 @@ void SuperCapacitorController::pub_state() {
     if (state.contains("cap_energy_percentage")) msg.cap_energy_percentage = state.at("cap_energy_percentage");
     if (state.contains("cap_state")) msg.cap_state = state.at("cap_state");
     state_pub_->publish(msg);
+}
+
+SuperCapacitorController::~SuperCapacitorController() {
+    // Destructor implementation
 }