git commit -m "first commit"

mir_robot/mir_msgs/msg/BMSData.msg

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+float64 pack_voltage
+float64 charge_current
+float64 discharge_current
+float64 state_of_charge
+float64 remaining_time_to_full_charge
+int32 remaining_capacity
+int32 state_of_health
+int32 DISCHARGING=1 #bit 0
+int32 CHARGING=2    #bit 1
+int32 OV=4         #bit 2 Over voltage
+int32 UV=8          #bit 3 Under voltage
+int32 COC=16         #bit 4 Charge over current
+int32 DOC=32         #bit 5 Discharge over current
+int32 DOT=64         #bit 6 Discharge over temperature
+int32 DUT=128         #bit 7 Discharge under temperature
+int32  SC=512         #bit 9
+int32 COT=1024         #bit 10 Charge over temperature
+int32 CUT=2048         #bit 11 Charge under temperature
+int32 FW_STATUS_MSK=2031616 # to get Battery_Firmware_Status  do the following:
+int32 FW_STATUS_SHIFT=16    # batt_fw_stat=(status_flags & FW_STATUS_MSK)>>FW_STATUS_SHIFT
+int32 FW_UPD_OK=0                  #Battery firmware update finished OK.
+int32 FW_UPD_RUNNING=1             #Battery firmware update running.
+int32 FW_UPD_FAILED_BOOT=2         #Battery firmware update failed in Bootloader (Robot must not drive)
+int32 FW_UPD_FAILED_APP=3          #Battery firmware update failed updating the application (Robot can drive with old FW)
+int32 FW_UPD_FAILED_PARAM=4        #Battery firmware update failed uploading parameters (Robot can drive with old fw and parameters.)
+int32 FW_STATUS_LOW_BATT=5         #Battery firmware update skipped battery too low or high (Robot can drive with old parameters.)
+int32 FW_STATUS_FILE_CORRUPTED=6   #Battery firmware file corrupted (Robot can drive with old parameters.)
+int32 FW_STATUS_CURRENT_TO_HIGH=7  #Battery firmware file corrupted (Robot can drive with old parameters.)
+int32 FW_STATUS_NO_CAN=8           #Battery firmware update skipped no CAN communication (Robot can drive with old fw and parameters.)
+int32 FW_BATTERY_IMBALANCE_HIGH=9  #Battery firmware update is enforced and the battery will be shut off by the new firmware
+int32 status_flags
+int32 temperature
+uint32[] cell_voltage # In Mk2 robots and above the BMS provides data for 8 battery cells. 2Gen robots have BMS for 13 battery cells
+uint32 cell_voltage_diff
+
+string WST_serial
+
+# Exteded diagnosticts for BMZ battery
+uint32 bmz_flag # Flag for enabling extended diagnosticts
+uint32 battery_type
+uint32 BATT_TYPE_UNKNOWN=0      #type is unknown / no communucation
+uint32 BATT_TYPE_BMZ=1          #BMZ battery
+uint32 BATT_TYPE_WST=2          #WST battery
+uint32 BATT_TYPE_SBS=3          #SBS battery
+uint32 BATT_TYPE_SBS_SLIDE=4    #SBS SLIDE battery
+uint32 BATT_TYPE_NO_BMS=255       #WST No BMS battery
+float64 full_voltage
+int32 full_capacity
+int32 temperature2
+int32 temperature_pcb
+int32 cycle_count
+int32 dsg_overcurrent_counter
+int32 chg_overcurrent_counter
+int32 hw_major
+int32 hw_minor
+int32 fw_major
+int32 fw_minor
+int32 fw_patch
+int32 fw_parameters_ok
+int32 rec_fw_major
+int32 rec_fw_minor
+int32 rec_fw_patch
+int32 bl_major
+int32 bl_minor
+uint32 status_enabled
+uint32 status_current_limitation
+uint32 status_switch_off_warn1
+uint32 status_switch_off_warn2
+uint32 status_fully_discharged
+uint32 status_nearly_discharged
+uint32 status_chargefet_on
+uint32 status_dischargefet_on
+uint32 status_discharging
+uint32 status_fully_charged
+uint32 status_charging
+uint32 status_temp_charging_err
+uint32 status_cell_over_voltage
+uint32 status_cell_under_voltage
+uint32 status_charge_over_current
+uint32 status_shortcircuit
+uint32 status_discharge_over_current
+float64 status_chargefet_voltage
+float64 status_dischargefet_voltage
+uint32 status_temp_discharging_err
+uint32 status_charger_detected
+uint32 mnfct_bms_revision
+uint32 mnfct_asn_revision
+uint32 mnfct_year
+uint32 mnfct_week
+uint32 mnfct_model
+uint32 mnfct_serial
+uint32 afe_i2c_error_count
+uint32 app_error_count
+uint32 fet_disable_state
+
+float64 last_battery_msg_time
+
+# SBS battery states
+uint32 SBS_battery_status
+uint32 SBS_battery_status_raw
+uint32 SBS_InitState1=1
+uint32 SBS_InitState2=2
+uint32 SBS_InitState3=3
+uint32 SBS_InitState4=4
+uint32 SBS_Idle=5
+uint32 SBS_Discharge=6
+uint32 SBS_Charge=7
+uint32 SBS_Fault=10
+uint32 SBS_CriticalError=11
+uint32 SBS_PrepareDeepsleep=99
+uint32 SBS_Deepsleep=100
+
+string SBS_serial_1
+string SBS_serial_2
+
+uint32 SBS_arti_nr_1
+uint32 SBS_arti_nr_2
+uint32 SBS_arti_nr_3
+
+uint32 SBS_curr_flow_passive_state
+
+# Overcurrent counters
+uint8 CHG_OC1_Count
+uint8 CHG_OC2_Count
+uint8 DSG_OC1_Count
+uint8 DSG_OC2_Count
+uint8 DSG_OC3_Count
+uint8 AFE_OC1_Count
+uint8 AFE_OC2_Count
+uint8 CHG_LatchClear_Count
+uint8 DSG_LatchClear_Count
+
+uint8 chg_oc_warning
+uint8 dsg_oc_warning