Add powerboard measurements to Solo12 sensor data

include/solo/solo12.hpp

@@ -297,6 +297,37 @@ class Solo12
         return imu_linear_acceleration_;
     }
 
+    /**
+     * @brief Get current [A] measurement from the power board.
+     *
+     * Will be zero if no power board is used.
+     */
+    float get_powerboard_current() const
+    {
+        return main_board_ptr_->powerboard_current();
+    }
+
+    /**
+     * @brief Get voltage [V] measurement from the power board.
+     *
+     * Will be zero if no power board is used.
+     */
+    float get_powerboard_voltage() const
+    {
+        return main_board_ptr_->powerboard_voltage();
+    }
+
+    /**
+     * @brief Get energy [J] consumed since start as measured by the power
+     * board.
+     *
+     * Will be zero if no power board is used.
+     */
+    float get_powerboard_energy() const
+    {
+        return main_board_ptr_->powerboard_energy();
+    }
+
     /*
      * Hardware Status
      */

src/dynamic_graph_manager/dgm_solo12.cpp

@@ -121,6 +121,9 @@ void DGMSolo12::get_sensors_to_map(dynamic_graph_manager::VectorDGMap& map)
     map.at("imu_gyroscope") = solo_.get_imu_gyroscope();
     map.at("imu_attitude") = solo_.get_imu_attitude();
     map.at("imu_linear_acceleration") = solo_.get_imu_linear_acceleration();
+    map.at("powerboard_current")[0] = solo_.get_powerboard_current();
+    map.at("powerboard_voltage")[0] = solo_.get_powerboard_voltage();
+    map.at("powerboard_energy")[0] = solo_.get_powerboard_energy();
 
     /**
      * Robot status.