Create controllers to simulate heave cone and battery messages

[mabelzhang]

Create messages for heave cone (TFRecord) and battery (BCRecord) in buoy_interfaces/msg

Possibly add messages that match buoy, even if those values don't appreciably change, e.g. hydrogen in battery.

Assign one of @rhenthorn + @quarkytale

[mabelzhang]

Consider using SCRecord (spring controller) or PCRecord (power controller) as reference

[andermi]

the SpringController is a good example. Just ignore the services for commands

some steps:
make a component .hpp file

• make a state struct like this
• register it as a component like this

in the plugin where the data originates

• access the state data component from the ECM like this in preupdate
• set struct data like this in preupdate
• write data to the ECM like this in preupdate

in the ROS2 controller plugin

• access state data component from ECM like this in postupdate
• set ROS2 message data like this from the state data struct in postupdate
• make a private struct to hold ROS2 stuff like this
• make a struct for other private stuff like this but ignore stuff about services and commands. You probably still need the mutexes for low/high priority data access

[andermi]

@rhenthorn @quarkytale let me know if you have any questions about the steps above

[andermi]

the Trefoil Controller will probably need to borrow from some of the stuff in the XBowAHRS controller to subscribe to IMU. Also, the Heave Cone link will need an IMU added to it (the IMU system plugin is already enabled)

[andermi]

reopening for the TFController