Create a node which reads values from INA260 and publishes them on a topic

[Thinking-Dragon]

For this item to be accepted as complete:

• A ROS node should be created (preferably a C++ node except if you absolutely need a specific Python library) you can call the node INA260_node or something meaningful ;
• A custom ROS message type should be created (see) ;
• The custom message type should include the following fields : current, voltage and power (all should be floating point numbers) ;
• The node should create a publisher to a topic called /measurement (see C++/Python) ;
• The node should do polling and publish the current, voltage and power every cycle ;

The easy way to start is using Python, Adafruit has a CircuitPython library for the INA260 (see).

You can start by making a Python ROS node which uses that library and then decide if it is worth it to write a C++ version.