commit dd4eb68cf747d2a0df08b01d1401af26bdd6d6cf
Author: Jeff Cooper <weirdsox11@gmail.com>
Date:   Fri Nov 11 02:12:29 2011 -0500

    Added the power node and skeleton

diff --git a/scout/power/CMakeLists.txt b/scout/power/CMakeLists.txt
new file mode 100644
index 0000000..149c66e
--- /dev/null
+++ b/scout/power/CMakeLists.txt
@@ -0,0 +1,32 @@
+cmake_minimum_required(VERSION 2.4.6)
+include($ENV{ROS_ROOT}/core/rosbuild/rosbuild.cmake)
+
+# Set the build type.  Options are:
+#  Coverage       : w/ debug symbols, w/o optimization, w/ code-coverage
+#  Debug          : w/ debug symbols, w/o optimization
+#  Release        : w/o debug symbols, w/ optimization
+#  RelWithDebInfo : w/ debug symbols, w/ optimization
+#  MinSizeRel     : w/o debug symbols, w/ optimization, stripped binaries
+#set(ROS_BUILD_TYPE RelWithDebInfo)
+
+rosbuild_init()
+
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+
+#uncomment if you have defined messages
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+#uncomment if you have defined services
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+
+#common commands for building c++ executables and libraries
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+#target_link_libraries(${PROJECT_NAME} another_library)
+#rosbuild_add_boost_directories()
+#rosbuild_link_boost(${PROJECT_NAME} thread)
+#rosbuild_add_executable(example examples/example.cpp)
+#target_link_libraries(example ${PROJECT_NAME})
+
+rosbuild_add_executable(power src/power.cpp)
diff --git a/scout/power/Makefile b/scout/power/Makefile
new file mode 100644
index 0000000..bbd3fc6
--- /dev/null
+++ b/scout/power/Makefile
@@ -0,0 +1 @@
+include $(shell rospack find mk)/cmake.mk
diff --git a/scout/power/bin/power b/scout/power/bin/power
new file mode 100755
index 0000000..97c8ad8
Binary files /dev/null and b/scout/power/bin/power differ
diff --git a/scout/power/build/CMakeCache.txt b/scout/power/build/CMakeCache.txt
new file mode 100644
index 0000000..1a33f92
--- /dev/null
+++ b/scout/power/build/CMakeCache.txt
@@ -0,0 +1,344 @@
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+	@echo "... clean"
+	@echo "... depend"
+	@echo "... ROSBUILD_genmsg_cpp"
+	@echo "... ROSBUILD_genmsg_lisp"
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+	@echo "... ROSBUILD_gensrv_py"
+	@echo "... clean-test-results"
+	@echo "... edit_cache"
+	@echo "... power"
+	@echo "... rebuild_cache"
+	@echo "... rosbuild_precompile"
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+	@echo "... rospack_gensrv_all"
+	@echo "... test"
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+	@echo "... test-results"
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+	@echo "... src/power.o"
+	@echo "... src/power.i"
+	@echo "... src/power.s"
+.PHONY : help
+
+
+
+#=============================================================================
+# Special targets to cleanup operation of make.
+
+# Special rule to run CMake to check the build system integrity.
+# No rule that depends on this can have commands that come from listfiles
+# because they might be regenerated.
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+	$(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
+.PHONY : cmake_check_build_system
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diff --git a/scout/power/build/cmake_install.cmake b/scout/power/build/cmake_install.cmake
new file mode 100644
index 0000000..f201186
--- /dev/null
+++ b/scout/power/build/cmake_install.cmake
@@ -0,0 +1,44 @@
+# Install script for directory: /home/jeff/code/scoutos/scout/power
+
+# Set the install prefix
+IF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+  SET(CMAKE_INSTALL_PREFIX "/usr/local")
+ENDIF(NOT DEFINED CMAKE_INSTALL_PREFIX)
+STRING(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
+
+# Set the install configuration name.
+IF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+  IF(BUILD_TYPE)
+    STRING(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
+           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
+  ELSE(BUILD_TYPE)
+    SET(CMAKE_INSTALL_CONFIG_NAME "RelWithDebInfo")
+  ENDIF(BUILD_TYPE)
+  MESSAGE(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
+ENDIF(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
+
+# Set the component getting installed.
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+  IF(COMPONENT)
+    MESSAGE(STATUS "Install component: \"${COMPONENT}\"")
+    SET(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
+  ELSE(COMPONENT)
+    SET(CMAKE_INSTALL_COMPONENT)
+  ENDIF(COMPONENT)
+ENDIF(NOT CMAKE_INSTALL_COMPONENT)
+
+# Install shared libraries without execute permission?
+IF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+  SET(CMAKE_INSTALL_SO_NO_EXE "0")
+ENDIF(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
+
+IF(CMAKE_INSTALL_COMPONENT)
+  SET(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
+ELSE(CMAKE_INSTALL_COMPONENT)
+  SET(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
+ENDIF(CMAKE_INSTALL_COMPONENT)
+
+FILE(WRITE "/home/jeff/code/scoutos/scout/power/build/${CMAKE_INSTALL_MANIFEST}" "")
+FOREACH(file ${CMAKE_INSTALL_MANIFEST_FILES})
+  FILE(APPEND "/home/jeff/code/scoutos/scout/power/build/${CMAKE_INSTALL_MANIFEST}" "${file}\n")
+ENDFOREACH(file)
diff --git a/scout/power/mainpage.dox b/scout/power/mainpage.dox
new file mode 100644
index 0000000..3d2352e
--- /dev/null
+++ b/scout/power/mainpage.dox
@@ -0,0 +1,26 @@
+/**
+\mainpage
+\htmlinclude manifest.html
+
+\b Power is the node that monitors and controls the power systems on the robot
+
+<!-- 
+Power is the node that monitors and controls the power systems on the robot
+-->
+
+
+\section codeapi Code API
+
+<!--
+Provide links to specific auto-generated API documentation within your
+package that is of particular interest to a reader. Doxygen will
+document pretty much every part of your code, so do your best here to
+point the reader to the actual API.
+
+If your codebase is fairly large or has different sets of APIs, you
+should use the doxygen 'group' tag to keep these APIs together. For
+example, the roscpp documentation has 'libros' group.
+-->
+
+
+*/
diff --git a/scout/power/manifest.xml b/scout/power/manifest.xml
new file mode 100644
index 0000000..2e105aa
--- /dev/null
+++ b/scout/power/manifest.xml
@@ -0,0 +1,15 @@
+<package>
+  <description brief="power">
+     Power
+     Module to control and regulate the power system
+  </description>
+  <author>Jeff</author>
+  <license>BSD</license>
+  <review status="unreviewed" notes=""/>
+  <url>https://www.roboticsclub.org/redmine/projects/colonyscout/wiki</url>
+  <depend package="roscpp"/>
+  <depend package="std_msgs"/>
+
+</package>
+
+
diff --git a/scout/power/msg/power_state_changed.msg b/scout/power/msg/power_state_changed.msg
new file mode 100644
index 0000000..5873f75
--- /dev/null
+++ b/scout/power/msg/power_state_changed.msg
@@ -0,0 +1,14 @@
+Header header
+#32-bit integer with current voltage info
+uint32 voltage
+#power percentage [0-100]
+uint32 percentage
+#current draw in mW
+uint32 draw
+#are we on external power?
+bool externalpower
+#is the battery at a warning state?
+bool warning
+#is the battery at a critical state?
+bool critical
+
diff --git a/scout/power/msg_gen/cpp/include/power/power_state_changed.h b/scout/power/msg_gen/cpp/include/power/power_state_changed.h
new file mode 100644
index 0000000..ebfbc95
--- /dev/null
+++ b/scout/power/msg_gen/cpp/include/power/power_state_changed.h
@@ -0,0 +1,306 @@
+/* Auto-generated by genmsg_cpp for file /home/jeff/code/scoutos/scout/power/msg/power_state_changed.msg */
+#ifndef POWER_MESSAGE_POWER_STATE_CHANGED_H
+#define POWER_MESSAGE_POWER_STATE_CHANGED_H
+#include <string>
+#include <vector>
+#include <ostream>
+#include "ros/serialization.h"
+#include "ros/builtin_message_traits.h"
+#include "ros/message_operations.h"
+#include "ros/message.h"
+#include "ros/time.h"
+
+#include "std_msgs/Header.h"
+
+namespace power
+{
+template <class ContainerAllocator>
+struct power_state_changed_ : public ros::Message
+{
+  typedef power_state_changed_<ContainerAllocator> Type;
+
+  power_state_changed_()
+  : header()
+  , voltage(0)
+  , percentage(0)
+  , draw(0)
+  , externalpower(false)
+  , warning(false)
+  , critical(false)
+  {
+  }
+
+  power_state_changed_(const ContainerAllocator& _alloc)
+  : header(_alloc)
+  , voltage(0)
+  , percentage(0)
+  , draw(0)
+  , externalpower(false)
+  , warning(false)
+  , critical(false)
+  {
+  }
+
+  typedef  ::std_msgs::Header_<ContainerAllocator>  _header_type;
+   ::std_msgs::Header_<ContainerAllocator>  header;
+
+  typedef uint32_t _voltage_type;
+  uint32_t voltage;
+
+  typedef uint32_t _percentage_type;
+  uint32_t percentage;
+
+  typedef uint32_t _draw_type;
+  uint32_t draw;
+
+  typedef uint8_t _externalpower_type;
+  uint8_t externalpower;
+
+  typedef uint8_t _warning_type;
+  uint8_t warning;
+
+  typedef uint8_t _critical_type;
+  uint8_t critical;
+
+
+private:
+  static const char* __s_getDataType_() { return "power/power_state_changed"; }
+public:
+  ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
+
+  ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
+
+private:
+  static const char* __s_getMD5Sum_() { return "fc98f58bb6056947bbbbbad6cc36490a"; }
+public:
+  ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
+
+  ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
+
+private:
+  static const char* __s_getMessageDefinition_() { return "Header header\n\
+#32-bit integer with current voltage info\n\
+uint32 voltage\n\
+#power percentage [0-100]\n\
+uint32 percentage\n\
+#current draw in mW\n\
+uint32 draw\n\
+#are we on external power?\n\
+bool externalpower\n\
+#is the battery at a warning state?\n\
+bool warning\n\
+#is the battery at a critical state?\n\
+bool critical\n\
+\n\
+\n\
+================================================================================\n\
+MSG: std_msgs/Header\n\
+# Standard metadata for higher-level stamped data types.\n\
+# This is generally used to communicate timestamped data \n\
+# in a particular coordinate frame.\n\
+# \n\
+# sequence ID: consecutively increasing ID \n\
+uint32 seq\n\
+#Two-integer timestamp that is expressed as:\n\
+# * stamp.secs: seconds (stamp_secs) since epoch\n\
+# * stamp.nsecs: nanoseconds since stamp_secs\n\
+# time-handling sugar is provided by the client library\n\
+time stamp\n\
+#Frame this data is associated with\n\
+# 0: no frame\n\
+# 1: global frame\n\
+string frame_id\n\
+\n\
+"; }
+public:
+  ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
+
+  ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
+
+  ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
+  {
+    ros::serialization::OStream stream(write_ptr, 1000000000);
+    ros::serialization::serialize(stream, header);
+    ros::serialization::serialize(stream, voltage);
+    ros::serialization::serialize(stream, percentage);
+    ros::serialization::serialize(stream, draw);
+    ros::serialization::serialize(stream, externalpower);
+    ros::serialization::serialize(stream, warning);
+    ros::serialization::serialize(stream, critical);
+    return stream.getData();
+  }
+
+  ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
+  {
+    ros::serialization::IStream stream(read_ptr, 1000000000);
+    ros::serialization::deserialize(stream, header);
+    ros::serialization::deserialize(stream, voltage);
+    ros::serialization::deserialize(stream, percentage);
+    ros::serialization::deserialize(stream, draw);
+    ros::serialization::deserialize(stream, externalpower);
+    ros::serialization::deserialize(stream, warning);
+    ros::serialization::deserialize(stream, critical);
+    return stream.getData();
+  }
+
+  ROS_DEPRECATED virtual uint32_t serializationLength() const
+  {
+    uint32_t size = 0;
+    size += ros::serialization::serializationLength(header);
+    size += ros::serialization::serializationLength(voltage);
+    size += ros::serialization::serializationLength(percentage);
+    size += ros::serialization::serializationLength(draw);
+    size += ros::serialization::serializationLength(externalpower);
+    size += ros::serialization::serializationLength(warning);
+    size += ros::serialization::serializationLength(critical);
+    return size;
+  }
+
+  typedef boost::shared_ptr< ::power::power_state_changed_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::power::power_state_changed_<ContainerAllocator>  const> ConstPtr;
+}; // struct power_state_changed
+typedef  ::power::power_state_changed_<std::allocator<void> > power_state_changed;
+
+typedef boost::shared_ptr< ::power::power_state_changed> power_state_changedPtr;
+typedef boost::shared_ptr< ::power::power_state_changed const> power_state_changedConstPtr;
+
+
+template<typename ContainerAllocator>
+std::ostream& operator<<(std::ostream& s, const  ::power::power_state_changed_<ContainerAllocator> & v)
+{
+  ros::message_operations::Printer< ::power::power_state_changed_<ContainerAllocator> >::stream(s, "", v);
+  return s;}
+
+} // namespace power
+
+namespace ros
+{
+namespace message_traits
+{
+template<class ContainerAllocator>
+struct MD5Sum< ::power::power_state_changed_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "fc98f58bb6056947bbbbbad6cc36490a";
+  }
+
+  static const char* value(const  ::power::power_state_changed_<ContainerAllocator> &) { return value(); } 
+  static const uint64_t static_value1 = 0xfc98f58bb6056947ULL;
+  static const uint64_t static_value2 = 0xbbbbbad6cc36490aULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::power::power_state_changed_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "power/power_state_changed";
+  }
+
+  static const char* value(const  ::power::power_state_changed_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator>
+struct Definition< ::power::power_state_changed_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "Header header\n\
+#32-bit integer with current voltage info\n\
+uint32 voltage\n\
+#power percentage [0-100]\n\
+uint32 percentage\n\
+#current draw in mW\n\
+uint32 draw\n\
+#are we on external power?\n\
+bool externalpower\n\
+#is the battery at a warning state?\n\
+bool warning\n\
+#is the battery at a critical state?\n\
+bool critical\n\
+\n\
+\n\
+================================================================================\n\
+MSG: std_msgs/Header\n\
+# Standard metadata for higher-level stamped data types.\n\
+# This is generally used to communicate timestamped data \n\
+# in a particular coordinate frame.\n\
+# \n\
+# sequence ID: consecutively increasing ID \n\
+uint32 seq\n\
+#Two-integer timestamp that is expressed as:\n\
+# * stamp.secs: seconds (stamp_secs) since epoch\n\
+# * stamp.nsecs: nanoseconds since stamp_secs\n\
+# time-handling sugar is provided by the client library\n\
+time stamp\n\
+#Frame this data is associated with\n\
+# 0: no frame\n\
+# 1: global frame\n\
+string frame_id\n\
+\n\
+";
+  }
+
+  static const char* value(const  ::power::power_state_changed_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator> struct HasHeader< ::power::power_state_changed_<ContainerAllocator> > : public TrueType {};
+template<class ContainerAllocator> struct HasHeader< const ::power::power_state_changed_<ContainerAllocator> > : public TrueType {};
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+template<class ContainerAllocator> struct Serializer< ::power::power_state_changed_<ContainerAllocator> >
+{
+  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+  {
+    stream.next(m.header);
+    stream.next(m.voltage);
+    stream.next(m.percentage);
+    stream.next(m.draw);
+    stream.next(m.externalpower);
+    stream.next(m.warning);
+    stream.next(m.critical);
+  }
+
+  ROS_DECLARE_ALLINONE_SERIALIZER;
+}; // struct power_state_changed_
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace message_operations
+{
+
+template<class ContainerAllocator>
+struct Printer< ::power::power_state_changed_<ContainerAllocator> >
+{
+  template<typename Stream> static void stream(Stream& s, const std::string& indent, const  ::power::power_state_changed_<ContainerAllocator> & v) 
+  {
+    s << indent << "header: ";
+s << std::endl;
+    Printer< ::std_msgs::Header_<ContainerAllocator> >::stream(s, indent + "  ", v.header);
+    s << indent << "voltage: ";
+    Printer<uint32_t>::stream(s, indent + "  ", v.voltage);
+    s << indent << "percentage: ";
+    Printer<uint32_t>::stream(s, indent + "  ", v.percentage);
+    s << indent << "draw: ";
+    Printer<uint32_t>::stream(s, indent + "  ", v.draw);
+    s << indent << "externalpower: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.externalpower);
+    s << indent << "warning: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.warning);
+    s << indent << "critical: ";
+    Printer<uint8_t>::stream(s, indent + "  ", v.critical);
+  }
+};
+
+
+} // namespace message_operations
+} // namespace ros
+
+#endif // POWER_MESSAGE_POWER_STATE_CHANGED_H
+
diff --git a/scout/power/msg_gen/generated b/scout/power/msg_gen/generated
new file mode 100644
index 0000000..396a0ba
--- /dev/null
+++ b/scout/power/msg_gen/generated
@@ -0,0 +1 @@
+yes
\ No newline at end of file
diff --git a/scout/power/msg_gen/lisp/_package.lisp b/scout/power/msg_gen/lisp/_package.lisp
new file mode 100644
index 0000000..244e327
--- /dev/null
+++ b/scout/power/msg_gen/lisp/_package.lisp
@@ -0,0 +1,7 @@
+(cl:defpackage power-msg
+  (:use )
+  (:export
+   "<POWER_STATE_CHANGED>"
+   "POWER_STATE_CHANGED"
+  ))
+
diff --git a/scout/power/msg_gen/lisp/_package_power_state_changed.lisp b/scout/power/msg_gen/lisp/_package_power_state_changed.lisp
new file mode 100644
index 0000000..40ffd5b
--- /dev/null
+++ b/scout/power/msg_gen/lisp/_package_power_state_changed.lisp
@@ -0,0 +1,16 @@
+(cl:in-package power-msg)
+(cl:export '(HEADER-VAL
+          HEADER
+          VOLTAGE-VAL
+          VOLTAGE
+          PERCENTAGE-VAL
+          PERCENTAGE
+          DRAW-VAL
+          DRAW
+          EXTERNALPOWER-VAL
+          EXTERNALPOWER
+          WARNING-VAL
+          WARNING
+          CRITICAL-VAL
+          CRITICAL
+))
\ No newline at end of file
diff --git a/scout/power/msg_gen/lisp/power-msg.asd b/scout/power/msg_gen/lisp/power-msg.asd
new file mode 100644
index 0000000..1205b95
--- /dev/null
+++ b/scout/power/msg_gen/lisp/power-msg.asd
@@ -0,0 +1,10 @@
+
+(cl:in-package :asdf)
+
+(defsystem "power-msg"
+  :depends-on (:roslisp-msg-protocol :roslisp-utils :std_msgs-msg
+)
+  :components ((:file "_package")
+    (:file "power_state_changed" :depends-on ("_package_power_state_changed"))
+    (:file "_package_power_state_changed" :depends-on ("_package"))
+  ))
\ No newline at end of file
diff --git a/scout/power/msg_gen/lisp/power_state_changed.lisp b/scout/power/msg_gen/lisp/power_state_changed.lisp
new file mode 100644
index 0000000..8f7fcd6
--- /dev/null
+++ b/scout/power/msg_gen/lisp/power_state_changed.lisp
@@ -0,0 +1,166 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package power-msg)
+
+
+;//! \htmlinclude power_state_changed.msg.html
+
+(cl:defclass <power_state_changed> (roslisp-msg-protocol:ros-message)
+  ((header
+    :reader header
+    :initarg :header
+    :type std_msgs-msg:Header
+    :initform (cl:make-instance 'std_msgs-msg:Header))
+   (voltage
+    :reader voltage
+    :initarg :voltage
+    :type cl:integer
+    :initform 0)
+   (percentage
+    :reader percentage
+    :initarg :percentage
+    :type cl:integer
+    :initform 0)
+   (draw
+    :reader draw
+    :initarg :draw
+    :type cl:integer
+    :initform 0)
+   (externalpower
+    :reader externalpower
+    :initarg :externalpower
+    :type cl:boolean
+    :initform cl:nil)
+   (warning
+    :reader warning
+    :initarg :warning
+    :type cl:boolean
+    :initform cl:nil)
+   (critical
+    :reader critical
+    :initarg :critical
+    :type cl:boolean
+    :initform cl:nil))
+)
+
+(cl:defclass power_state_changed (<power_state_changed>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <power_state_changed>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'power_state_changed)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name power-msg:<power_state_changed> is deprecated: use power-msg:power_state_changed instead.")))
+
+(cl:ensure-generic-function 'header-val :lambda-list '(m))
+(cl:defmethod header-val ((m <power_state_changed>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader power-msg:header-val is deprecated.  Use power-msg:header instead.")
+  (header m))
+
+(cl:ensure-generic-function 'voltage-val :lambda-list '(m))
+(cl:defmethod voltage-val ((m <power_state_changed>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader power-msg:voltage-val is deprecated.  Use power-msg:voltage instead.")
+  (voltage m))
+
+(cl:ensure-generic-function 'percentage-val :lambda-list '(m))
+(cl:defmethod percentage-val ((m <power_state_changed>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader power-msg:percentage-val is deprecated.  Use power-msg:percentage instead.")
+  (percentage m))
+
+(cl:ensure-generic-function 'draw-val :lambda-list '(m))
+(cl:defmethod draw-val ((m <power_state_changed>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader power-msg:draw-val is deprecated.  Use power-msg:draw instead.")
+  (draw m))
+
+(cl:ensure-generic-function 'externalpower-val :lambda-list '(m))
+(cl:defmethod externalpower-val ((m <power_state_changed>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader power-msg:externalpower-val is deprecated.  Use power-msg:externalpower instead.")
+  (externalpower m))
+
+(cl:ensure-generic-function 'warning-val :lambda-list '(m))
+(cl:defmethod warning-val ((m <power_state_changed>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader power-msg:warning-val is deprecated.  Use power-msg:warning instead.")
+  (warning m))
+
+(cl:ensure-generic-function 'critical-val :lambda-list '(m))
+(cl:defmethod critical-val ((m <power_state_changed>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader power-msg:critical-val is deprecated.  Use power-msg:critical instead.")
+  (critical m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <power_state_changed>) ostream)
+  "Serializes a message object of type '<power_state_changed>"
+  (roslisp-msg-protocol:serialize (cl:slot-value msg 'header) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'voltage)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'voltage)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'voltage)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'voltage)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'percentage)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'percentage)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'percentage)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'percentage)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'draw)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'draw)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'draw)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'draw)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'externalpower) 1 0)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'warning) 1 0)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'critical) 1 0)) ostream)
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <power_state_changed>) istream)
+  "Deserializes a message object of type '<power_state_changed>"
+  (roslisp-msg-protocol:deserialize (cl:slot-value msg 'header) istream)
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'voltage)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'voltage)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'voltage)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'voltage)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'percentage)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'percentage)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'percentage)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'percentage)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'draw)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'draw)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'draw)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'draw)) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'externalpower) (cl:not (cl:zerop (cl:read-byte istream))))
+    (cl:setf (cl:slot-value msg 'warning) (cl:not (cl:zerop (cl:read-byte istream))))
+    (cl:setf (cl:slot-value msg 'critical) (cl:not (cl:zerop (cl:read-byte istream))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<power_state_changed>)))
+  "Returns string type for a message object of type '<power_state_changed>"
+  "power/power_state_changed")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'power_state_changed)))
+  "Returns string type for a message object of type 'power_state_changed"
+  "power/power_state_changed")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<power_state_changed>)))
+  "Returns md5sum for a message object of type '<power_state_changed>"
+  "fc98f58bb6056947bbbbbad6cc36490a")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'power_state_changed)))
+  "Returns md5sum for a message object of type 'power_state_changed"
+  "fc98f58bb6056947bbbbbad6cc36490a")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<power_state_changed>)))
+  "Returns full string definition for message of type '<power_state_changed>"
+  (cl:format cl:nil "Header header~%#32-bit integer with current voltage info~%uint32 voltage~%#power percentage [0-100]~%uint32 percentage~%#current draw in mW~%uint32 draw~%#are we on external power?~%bool externalpower~%#is the battery at a warning state?~%bool warning~%#is the battery at a critical state?~%bool critical~%~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'power_state_changed)))
+  "Returns full string definition for message of type 'power_state_changed"
+  (cl:format cl:nil "Header header~%#32-bit integer with current voltage info~%uint32 voltage~%#power percentage [0-100]~%uint32 percentage~%#current draw in mW~%uint32 draw~%#are we on external power?~%bool externalpower~%#is the battery at a warning state?~%bool warning~%#is the battery at a critical state?~%bool critical~%~%~%================================================================================~%MSG: std_msgs/Header~%# Standard metadata for higher-level stamped data types.~%# This is generally used to communicate timestamped data ~%# in a particular coordinate frame.~%# ~%# sequence ID: consecutively increasing ID ~%uint32 seq~%#Two-integer timestamp that is expressed as:~%# * stamp.secs: seconds (stamp_secs) since epoch~%# * stamp.nsecs: nanoseconds since stamp_secs~%# time-handling sugar is provided by the client library~%time stamp~%#Frame this data is associated with~%# 0: no frame~%# 1: global frame~%string frame_id~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <power_state_changed>))
+  (cl:+ 0
+     (roslisp-msg-protocol:serialization-length (cl:slot-value msg 'header))
+     4
+     4
+     4
+     1
+     1
+     1
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <power_state_changed>))
+  "Converts a ROS message object to a list"
+  (cl:list 'power_state_changed
+    (cl:cons ':header (header msg))
+    (cl:cons ':voltage (voltage msg))
+    (cl:cons ':percentage (percentage msg))
+    (cl:cons ':draw (draw msg))
+    (cl:cons ':externalpower (externalpower msg))
+    (cl:cons ':warning (warning msg))
+    (cl:cons ':critical (critical msg))
+))
diff --git a/scout/power/src/power.cpp b/scout/power/src/power.cpp
new file mode 100644
index 0000000..8611423
--- /dev/null
+++ b/scout/power/src/power.cpp
@@ -0,0 +1,118 @@
+/**
+ * Copyright (c) 2011 Colony Project
+ * 
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use,
+ * copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following
+ * conditions:
+ * 
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+ * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+ * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ * OTHER DEALINGS IN THE SOFTWARE.
+ **/
+
+/**
+ * @file power.cpp
+ * @brief Contains code to monitor and regulate power systems
+ *
+ * Implementation of power monitor and control
+ *
+ * @author Colony Project, CMU Robotics Club
+ * @author Jeff Cooper
+ **/
+
+#include "ros/ros.h"
+#include "power.h"
+#include <cstdlib>
+
+/**
+ * @defgroup power Power
+ * @brief Functions for monitoring and regulating the power systems
+ *
+ * @{
+ **/
+
+/* Power system state variables
+ * updated by the AVR, used to respond to
+ * power queries and send messages
+ *
+ */
+/** @todo Fix types: static */
+
+/** @TODO figure out if we can get things like the current draw from the AVR. */
+/** @TODO More generally, figure out how we get info from the AVR (avrbridge
+ * node?) */
+
+uint32_t voltage; /**< the current voltage */
+uint32_t percentage; /**< current percentage of power remaining */
+uint32_t draw; /**< the current draw in mW */
+/** @TODO: figure out if these have to be uint8_t's to play nice with ROS */
+bool externalpower; /**< are we on external power? */
+bool warning; /**< is the battery reporting a warning state? */
+bool critical; /**< is the battery reporting a critical state? */
+
+/**
+ * @brief Outputs current power state information
+ *
+ * Serves the service query_power by responding to service requests with the
+ * state of the power system
+ * @param req The request. There are no fields
+ * @param res The response. The fields will be filled with values.
+ */
+bool power_query(power::query_power::Request &req,
+                  power::query_power::Response &res)
+{
+    res.voltage = voltage;
+    res.percentage = percentage;
+    res.draw = draw;
+    res.externalpower = externalpower;
+    res.warning = warning;
+    res.critical = critical;
+
+    ROS_DEBUG("Power speeds queried");
+    return true;
+}
+
+
+/**
+ * @brief Power driver. This is a ROS node that monitors and regulates the power
+ * systems
+ *
+ * This is the main function for the power node. It is run when the node
+ * starts. It advertises the query_power service.
+ * 
+ * @param argc The number of command line arguments (should be 1)
+ * @param argv The array of command line arguments
+ **/
+int main(int argc, char **argv)
+{
+    /* Initialize in ROS the motors driver node */
+    ros::init(argc, argv, "power_driver");
+
+    /* Advertise that this serves the query_motors service */
+    ros::NodeHandle n;
+    ros::ServiceServer service = n.advertiseService("query_power",
+                                                    power_query);
+
+    /* Initialize hardware for motors */
+    // Hardware init functions here
+
+    ROS_INFO("Ready to set motors.");
+    ros::spin();
+
+    return 0;
+}
+
+/** @} **/
diff --git a/scout/power/src/power.h b/scout/power/src/power.h
new file mode 100644
index 0000000..727aef8
--- /dev/null
+++ b/scout/power/src/power.h
@@ -0,0 +1,51 @@
+/**
+ * Copyright (c) 2011 Colony Project
+ * 
+ * Permission is hereby granted, free of charge, to any person
+ * obtaining a copy of this software and associated documentation
+ * files (the "Software"), to deal in the Software without
+ * restriction, including without limitation the rights to use,
+ * copy, modify, merge, publish, distribute, sublicense, and/or sell
+ * copies of the Software, and to permit persons to whom the
+ * Software is furnished to do so, subject to the following
+ * conditions:
+ * 
+ * The above copyright notice and this permission notice shall be
+ * included in all copies or substantial portions of the Software.
+ * 
+ * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+ * EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES
+ * OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND
+ * NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT
+ * HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY,
+ * WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING
+ * FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+ * OTHER DEALINGS IN THE SOFTWARE.
+ **/
+
+/**
+ * @file motors.h
+ * @brief Contains motor declarations and functions.
+ * 
+ * Contains functions and definitions for the use of
+ * motors.
+ *
+ * @author Colony Project, CMU Robotics Club
+ * @author Benjamin Wasserman
+ **/
+
+#ifndef _POWER_H_
+#define _POWER_H_
+
+#include "power/query_power.h"
+
+/** @brief Initialize the power module and driver. **/
+int main(int argc, char **argv);
+
+/** @brief Responds to service to query power informatio **/
+bool power_query(power::query_power::Request &req,
+                  power::query_power::Response &res);
+
+/** @breif Function that sends the power_state_changed message **/
+void send_power_state_changed();
+#endif
diff --git a/scout/power/src/power/__init__.py b/scout/power/src/power/__init__.py
new file mode 100644
index 0000000..e69de29
diff --git a/scout/power/src/power/msg/__init__.py b/scout/power/src/power/msg/__init__.py
new file mode 100644
index 0000000..d9a51a2
--- /dev/null
+++ b/scout/power/src/power/msg/__init__.py
@@ -0,0 +1 @@
+from _power_state_changed import *
diff --git a/scout/power/src/power/msg/_power_state_changed.py b/scout/power/src/power/msg/_power_state_changed.py
new file mode 100644
index 0000000..ea55b71
--- /dev/null
+++ b/scout/power/src/power/msg/_power_state_changed.py
@@ -0,0 +1,197 @@
+"""autogenerated by genmsg_py from power_state_changed.msg. Do not edit."""
+import roslib.message
+import struct
+
+import std_msgs.msg
+
+class power_state_changed(roslib.message.Message):
+  _md5sum = "fc98f58bb6056947bbbbbad6cc36490a"
+  _type = "power/power_state_changed"
+  _has_header = True #flag to mark the presence of a Header object
+  _full_text = """Header header
+#32-bit integer with current voltage info
+uint32 voltage
+#power percentage [0-100]
+uint32 percentage
+#current draw in mW
+uint32 draw
+#are we on external power?
+bool externalpower
+#is the battery at a warning state?
+bool warning
+#is the battery at a critical state?
+bool critical
+
+
+================================================================================
+MSG: std_msgs/Header
+# Standard metadata for higher-level stamped data types.
+# This is generally used to communicate timestamped data 
+# in a particular coordinate frame.
+# 
+# sequence ID: consecutively increasing ID 
+uint32 seq
+#Two-integer timestamp that is expressed as:
+# * stamp.secs: seconds (stamp_secs) since epoch
+# * stamp.nsecs: nanoseconds since stamp_secs
+# time-handling sugar is provided by the client library
+time stamp
+#Frame this data is associated with
+# 0: no frame
+# 1: global frame
+string frame_id
+
+"""
+  __slots__ = ['header','voltage','percentage','draw','externalpower','warning','critical']
+  _slot_types = ['Header','uint32','uint32','uint32','bool','bool','bool']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+    
+    The available fields are:
+       header,voltage,percentage,draw,externalpower,warning,critical
+    
+    @param args: complete set of field values, in .msg order
+    @param kwds: use keyword arguments corresponding to message field names
+    to set specific fields. 
+    """
+    if args or kwds:
+      super(power_state_changed, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.header is None:
+        self.header = std_msgs.msg._Header.Header()
+      if self.voltage is None:
+        self.voltage = 0
+      if self.percentage is None:
+        self.percentage = 0
+      if self.draw is None:
+        self.draw = 0
+      if self.externalpower is None:
+        self.externalpower = False
+      if self.warning is None:
+        self.warning = False
+      if self.critical is None:
+        self.critical = False
+    else:
+      self.header = std_msgs.msg._Header.Header()
+      self.voltage = 0
+      self.percentage = 0
+      self.draw = 0
+      self.externalpower = False
+      self.warning = False
+      self.critical = False
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    @param buff: buffer
+    @type  buff: StringIO
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_3I3B.pack(_x.voltage, _x.percentage, _x.draw, _x.externalpower, _x.warning, _x.critical))
+    except struct.error, se: self._check_types(se)
+    except TypeError, te: self._check_types(te)
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    @param str: byte array of serialized message
+    @type  str: str
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg._Header.Header()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 15
+      (_x.voltage, _x.percentage, _x.draw, _x.externalpower, _x.warning, _x.critical,) = _struct_3I3B.unpack(str[start:end])
+      self.externalpower = bool(self.externalpower)
+      self.warning = bool(self.warning)
+      self.critical = bool(self.critical)
+      return self
+    except struct.error, e:
+      raise roslib.message.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    @param buff: buffer
+    @type  buff: StringIO
+    @param numpy: numpy python module
+    @type  numpy module
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I.pack(_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs))
+      _x = self.header.frame_id
+      length = len(_x)
+      buff.write(struct.pack('<I%ss'%length, length, _x))
+      _x = self
+      buff.write(_struct_3I3B.pack(_x.voltage, _x.percentage, _x.draw, _x.externalpower, _x.warning, _x.critical))
+    except struct.error, se: self._check_types(se)
+    except TypeError, te: self._check_types(te)
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    @param str: byte array of serialized message
+    @type  str: str
+    @param numpy: numpy python module
+    @type  numpy: module
+    """
+    try:
+      if self.header is None:
+        self.header = std_msgs.msg._Header.Header()
+      end = 0
+      _x = self
+      start = end
+      end += 12
+      (_x.header.seq, _x.header.stamp.secs, _x.header.stamp.nsecs,) = _struct_3I.unpack(str[start:end])
+      start = end
+      end += 4
+      (length,) = _struct_I.unpack(str[start:end])
+      start = end
+      end += length
+      self.header.frame_id = str[start:end]
+      _x = self
+      start = end
+      end += 15
+      (_x.voltage, _x.percentage, _x.draw, _x.externalpower, _x.warning, _x.critical,) = _struct_3I3B.unpack(str[start:end])
+      self.externalpower = bool(self.externalpower)
+      self.warning = bool(self.warning)
+      self.critical = bool(self.critical)
+      return self
+    except struct.error, e:
+      raise roslib.message.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = roslib.message.struct_I
+_struct_3I = struct.Struct("<3I")
+_struct_3I3B = struct.Struct("<3I3B")
diff --git a/scout/power/src/power/srv/__init__.py b/scout/power/src/power/srv/__init__.py
new file mode 100644
index 0000000..5605cbe
--- /dev/null
+++ b/scout/power/src/power/srv/__init__.py
@@ -0,0 +1 @@
+from _query_power import *
diff --git a/scout/power/src/power/srv/_query_power.py b/scout/power/src/power/srv/_query_power.py
new file mode 100644
index 0000000..e373a33
--- /dev/null
+++ b/scout/power/src/power/srv/_query_power.py
@@ -0,0 +1,233 @@
+"""autogenerated by genmsg_py from query_powerRequest.msg. Do not edit."""
+import roslib.message
+import struct
+
+
+class query_powerRequest(roslib.message.Message):
+  _md5sum = "d41d8cd98f00b204e9800998ecf8427e"
+  _type = "power/query_powerRequest"
+  _has_header = False #flag to mark the presence of a Header object
+  _full_text = """
+"""
+  __slots__ = []
+  _slot_types = []
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+    
+    The available fields are:
+       
+    
+    @param args: complete set of field values, in .msg order
+    @param kwds: use keyword arguments corresponding to message field names
+    to set specific fields. 
+    """
+    if args or kwds:
+      super(query_powerRequest, self).__init__(*args, **kwds)
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    @param buff: buffer
+    @type  buff: StringIO
+    """
+    try:
+      pass
+    except struct.error, se: self._check_types(se)
+    except TypeError, te: self._check_types(te)
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    @param str: byte array of serialized message
+    @type  str: str
+    """
+    try:
+      end = 0
+      return self
+    except struct.error, e:
+      raise roslib.message.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    @param buff: buffer
+    @type  buff: StringIO
+    @param numpy: numpy python module
+    @type  numpy module
+    """
+    try:
+      pass
+    except struct.error, se: self._check_types(se)
+    except TypeError, te: self._check_types(te)
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    @param str: byte array of serialized message
+    @type  str: str
+    @param numpy: numpy python module
+    @type  numpy: module
+    """
+    try:
+      end = 0
+      return self
+    except struct.error, e:
+      raise roslib.message.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = roslib.message.struct_I
+"""autogenerated by genmsg_py from query_powerResponse.msg. Do not edit."""
+import roslib.message
+import struct
+
+
+class query_powerResponse(roslib.message.Message):
+  _md5sum = "7f7505c0b2499fcf6c85ecc5dee6164e"
+  _type = "power/query_powerResponse"
+  _has_header = False #flag to mark the presence of a Header object
+  _full_text = """
+uint32 voltage
+
+uint32 percentage
+
+uint32 draw
+
+bool externalpower
+
+bool warning
+
+bool critical
+
+
+"""
+  __slots__ = ['voltage','percentage','draw','externalpower','warning','critical']
+  _slot_types = ['uint32','uint32','uint32','bool','bool','bool']
+
+  def __init__(self, *args, **kwds):
+    """
+    Constructor. Any message fields that are implicitly/explicitly
+    set to None will be assigned a default value. The recommend
+    use is keyword arguments as this is more robust to future message
+    changes.  You cannot mix in-order arguments and keyword arguments.
+    
+    The available fields are:
+       voltage,percentage,draw,externalpower,warning,critical
+    
+    @param args: complete set of field values, in .msg order
+    @param kwds: use keyword arguments corresponding to message field names
+    to set specific fields. 
+    """
+    if args or kwds:
+      super(query_powerResponse, self).__init__(*args, **kwds)
+      #message fields cannot be None, assign default values for those that are
+      if self.voltage is None:
+        self.voltage = 0
+      if self.percentage is None:
+        self.percentage = 0
+      if self.draw is None:
+        self.draw = 0
+      if self.externalpower is None:
+        self.externalpower = False
+      if self.warning is None:
+        self.warning = False
+      if self.critical is None:
+        self.critical = False
+    else:
+      self.voltage = 0
+      self.percentage = 0
+      self.draw = 0
+      self.externalpower = False
+      self.warning = False
+      self.critical = False
+
+  def _get_types(self):
+    """
+    internal API method
+    """
+    return self._slot_types
+
+  def serialize(self, buff):
+    """
+    serialize message into buffer
+    @param buff: buffer
+    @type  buff: StringIO
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I3B.pack(_x.voltage, _x.percentage, _x.draw, _x.externalpower, _x.warning, _x.critical))
+    except struct.error, se: self._check_types(se)
+    except TypeError, te: self._check_types(te)
+
+  def deserialize(self, str):
+    """
+    unpack serialized message in str into this message instance
+    @param str: byte array of serialized message
+    @type  str: str
+    """
+    try:
+      end = 0
+      _x = self
+      start = end
+      end += 15
+      (_x.voltage, _x.percentage, _x.draw, _x.externalpower, _x.warning, _x.critical,) = _struct_3I3B.unpack(str[start:end])
+      self.externalpower = bool(self.externalpower)
+      self.warning = bool(self.warning)
+      self.critical = bool(self.critical)
+      return self
+    except struct.error, e:
+      raise roslib.message.DeserializationError(e) #most likely buffer underfill
+
+
+  def serialize_numpy(self, buff, numpy):
+    """
+    serialize message with numpy array types into buffer
+    @param buff: buffer
+    @type  buff: StringIO
+    @param numpy: numpy python module
+    @type  numpy module
+    """
+    try:
+      _x = self
+      buff.write(_struct_3I3B.pack(_x.voltage, _x.percentage, _x.draw, _x.externalpower, _x.warning, _x.critical))
+    except struct.error, se: self._check_types(se)
+    except TypeError, te: self._check_types(te)
+
+  def deserialize_numpy(self, str, numpy):
+    """
+    unpack serialized message in str into this message instance using numpy for array types
+    @param str: byte array of serialized message
+    @type  str: str
+    @param numpy: numpy python module
+    @type  numpy: module
+    """
+    try:
+      end = 0
+      _x = self
+      start = end
+      end += 15
+      (_x.voltage, _x.percentage, _x.draw, _x.externalpower, _x.warning, _x.critical,) = _struct_3I3B.unpack(str[start:end])
+      self.externalpower = bool(self.externalpower)
+      self.warning = bool(self.warning)
+      self.critical = bool(self.critical)
+      return self
+    except struct.error, e:
+      raise roslib.message.DeserializationError(e) #most likely buffer underfill
+
+_struct_I = roslib.message.struct_I
+_struct_3I3B = struct.Struct("<3I3B")
+class query_power(roslib.message.ServiceDefinition):
+  _type          = 'power/query_power'
+  _md5sum = '7f7505c0b2499fcf6c85ecc5dee6164e'
+  _request_class  = query_powerRequest
+  _response_class = query_powerResponse
diff --git a/scout/power/srv/query_power.srv b/scout/power/srv/query_power.srv
new file mode 100644
index 0000000..aeaa127
--- /dev/null
+++ b/scout/power/srv/query_power.srv
@@ -0,0 +1,13 @@
+---
+#32-bit integer with current voltage info
+uint32 voltage
+#power percentage [0-100]
+uint32 percentage
+#current draw in mW
+uint32 draw
+#are we on external power?
+bool externalpower
+#is the battery at a warning state?
+bool warning
+#is the battery at a critical state?
+bool critical
diff --git a/scout/power/srv_gen/cpp/include/power/query_power.h b/scout/power/srv_gen/cpp/include/power/query_power.h
new file mode 100644
index 0000000..8a83c88
--- /dev/null
+++ b/scout/power/srv_gen/cpp/include/power/query_power.h
@@ -0,0 +1,436 @@
+/* Auto-generated by genmsg_cpp for file /home/jeff/code/scoutos/scout/power/srv/query_power.srv */
+#ifndef POWER_SERVICE_QUERY_POWER_H
+#define POWER_SERVICE_QUERY_POWER_H
+#include <string>
+#include <vector>
+#include <ostream>
+#include "ros/serialization.h"
+#include "ros/builtin_message_traits.h"
+#include "ros/message_operations.h"
+#include "ros/message.h"
+#include "ros/time.h"
+
+#include "ros/service_traits.h"
+
+
+
+
+namespace power
+{
+template <class ContainerAllocator>
+struct query_powerRequest_ : public ros::Message
+{
+  typedef query_powerRequest_<ContainerAllocator> Type;
+
+  query_powerRequest_()
+  {
+  }
+
+  query_powerRequest_(const ContainerAllocator& _alloc)
+  {
+  }
+
+
+private:
+  static const char* __s_getDataType_() { return "power/query_powerRequest"; }
+public:
+  ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
+
+  ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
+
+private:
+  static const char* __s_getMD5Sum_() { return "d41d8cd98f00b204e9800998ecf8427e"; }
+public:
+  ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
+
+  ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
+
+private:
+  static const char* __s_getServerMD5Sum_() { return "7f7505c0b2499fcf6c85ecc5dee6164e"; }
+public:
+  ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); }
+
+  ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); }
+
+private:
+  static const char* __s_getMessageDefinition_() { return "\n\
+"; }
+public:
+  ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
+
+  ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
+
+  ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
+  {
+    ros::serialization::OStream stream(write_ptr, 1000000000);
+    return stream.getData();
+  }
+
+  ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
+  {
+    ros::serialization::IStream stream(read_ptr, 1000000000);
+    return stream.getData();
+  }
+
+  ROS_DEPRECATED virtual uint32_t serializationLength() const
+  {
+    uint32_t size = 0;
+    return size;
+  }
+
+  typedef boost::shared_ptr< ::power::query_powerRequest_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::power::query_powerRequest_<ContainerAllocator>  const> ConstPtr;
+}; // struct query_powerRequest
+typedef  ::power::query_powerRequest_<std::allocator<void> > query_powerRequest;
+
+typedef boost::shared_ptr< ::power::query_powerRequest> query_powerRequestPtr;
+typedef boost::shared_ptr< ::power::query_powerRequest const> query_powerRequestConstPtr;
+
+
+template <class ContainerAllocator>
+struct query_powerResponse_ : public ros::Message
+{
+  typedef query_powerResponse_<ContainerAllocator> Type;
+
+  query_powerResponse_()
+  : voltage(0)
+  , percentage(0)
+  , draw(0)
+  , externalpower(false)
+  , warning(false)
+  , critical(false)
+  {
+  }
+
+  query_powerResponse_(const ContainerAllocator& _alloc)
+  : voltage(0)
+  , percentage(0)
+  , draw(0)
+  , externalpower(false)
+  , warning(false)
+  , critical(false)
+  {
+  }
+
+  typedef uint32_t _voltage_type;
+  uint32_t voltage;
+
+  typedef uint32_t _percentage_type;
+  uint32_t percentage;
+
+  typedef uint32_t _draw_type;
+  uint32_t draw;
+
+  typedef uint8_t _externalpower_type;
+  uint8_t externalpower;
+
+  typedef uint8_t _warning_type;
+  uint8_t warning;
+
+  typedef uint8_t _critical_type;
+  uint8_t critical;
+
+
+private:
+  static const char* __s_getDataType_() { return "power/query_powerResponse"; }
+public:
+  ROS_DEPRECATED static const std::string __s_getDataType() { return __s_getDataType_(); }
+
+  ROS_DEPRECATED const std::string __getDataType() const { return __s_getDataType_(); }
+
+private:
+  static const char* __s_getMD5Sum_() { return "7f7505c0b2499fcf6c85ecc5dee6164e"; }
+public:
+  ROS_DEPRECATED static const std::string __s_getMD5Sum() { return __s_getMD5Sum_(); }
+
+  ROS_DEPRECATED const std::string __getMD5Sum() const { return __s_getMD5Sum_(); }
+
+private:
+  static const char* __s_getServerMD5Sum_() { return "7f7505c0b2499fcf6c85ecc5dee6164e"; }
+public:
+  ROS_DEPRECATED static const std::string __s_getServerMD5Sum() { return __s_getServerMD5Sum_(); }
+
+  ROS_DEPRECATED const std::string __getServerMD5Sum() const { return __s_getServerMD5Sum_(); }
+
+private:
+  static const char* __s_getMessageDefinition_() { return "\n\
+uint32 voltage\n\
+\n\
+uint32 percentage\n\
+\n\
+uint32 draw\n\
+\n\
+bool externalpower\n\
+\n\
+bool warning\n\
+\n\
+bool critical\n\
+\n\
+\n\
+"; }
+public:
+  ROS_DEPRECATED static const std::string __s_getMessageDefinition() { return __s_getMessageDefinition_(); }
+
+  ROS_DEPRECATED const std::string __getMessageDefinition() const { return __s_getMessageDefinition_(); }
+
+  ROS_DEPRECATED virtual uint8_t *serialize(uint8_t *write_ptr, uint32_t seq) const
+  {
+    ros::serialization::OStream stream(write_ptr, 1000000000);
+    ros::serialization::serialize(stream, voltage);
+    ros::serialization::serialize(stream, percentage);
+    ros::serialization::serialize(stream, draw);
+    ros::serialization::serialize(stream, externalpower);
+    ros::serialization::serialize(stream, warning);
+    ros::serialization::serialize(stream, critical);
+    return stream.getData();
+  }
+
+  ROS_DEPRECATED virtual uint8_t *deserialize(uint8_t *read_ptr)
+  {
+    ros::serialization::IStream stream(read_ptr, 1000000000);
+    ros::serialization::deserialize(stream, voltage);
+    ros::serialization::deserialize(stream, percentage);
+    ros::serialization::deserialize(stream, draw);
+    ros::serialization::deserialize(stream, externalpower);
+    ros::serialization::deserialize(stream, warning);
+    ros::serialization::deserialize(stream, critical);
+    return stream.getData();
+  }
+
+  ROS_DEPRECATED virtual uint32_t serializationLength() const
+  {
+    uint32_t size = 0;
+    size += ros::serialization::serializationLength(voltage);
+    size += ros::serialization::serializationLength(percentage);
+    size += ros::serialization::serializationLength(draw);
+    size += ros::serialization::serializationLength(externalpower);
+    size += ros::serialization::serializationLength(warning);
+    size += ros::serialization::serializationLength(critical);
+    return size;
+  }
+
+  typedef boost::shared_ptr< ::power::query_powerResponse_<ContainerAllocator> > Ptr;
+  typedef boost::shared_ptr< ::power::query_powerResponse_<ContainerAllocator>  const> ConstPtr;
+}; // struct query_powerResponse
+typedef  ::power::query_powerResponse_<std::allocator<void> > query_powerResponse;
+
+typedef boost::shared_ptr< ::power::query_powerResponse> query_powerResponsePtr;
+typedef boost::shared_ptr< ::power::query_powerResponse const> query_powerResponseConstPtr;
+
+struct query_power
+{
+
+typedef query_powerRequest Request;
+typedef query_powerResponse Response;
+Request request;
+Response response;
+
+typedef Request RequestType;
+typedef Response ResponseType;
+}; // struct query_power
+} // namespace power
+
+namespace ros
+{
+namespace message_traits
+{
+template<class ContainerAllocator>
+struct MD5Sum< ::power::query_powerRequest_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "d41d8cd98f00b204e9800998ecf8427e";
+  }
+
+  static const char* value(const  ::power::query_powerRequest_<ContainerAllocator> &) { return value(); } 
+  static const uint64_t static_value1 = 0xd41d8cd98f00b204ULL;
+  static const uint64_t static_value2 = 0xe9800998ecf8427eULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::power::query_powerRequest_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "power/query_powerRequest";
+  }
+
+  static const char* value(const  ::power::query_powerRequest_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator>
+struct Definition< ::power::query_powerRequest_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "\n\
+";
+  }
+
+  static const char* value(const  ::power::query_powerRequest_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator> struct IsFixedSize< ::power::query_powerRequest_<ContainerAllocator> > : public TrueType {};
+} // namespace message_traits
+} // namespace ros
+
+
+namespace ros
+{
+namespace message_traits
+{
+template<class ContainerAllocator>
+struct MD5Sum< ::power::query_powerResponse_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "7f7505c0b2499fcf6c85ecc5dee6164e";
+  }
+
+  static const char* value(const  ::power::query_powerResponse_<ContainerAllocator> &) { return value(); } 
+  static const uint64_t static_value1 = 0x7f7505c0b2499fcfULL;
+  static const uint64_t static_value2 = 0x6c85ecc5dee6164eULL;
+};
+
+template<class ContainerAllocator>
+struct DataType< ::power::query_powerResponse_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "power/query_powerResponse";
+  }
+
+  static const char* value(const  ::power::query_powerResponse_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator>
+struct Definition< ::power::query_powerResponse_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "\n\
+uint32 voltage\n\
+\n\
+uint32 percentage\n\
+\n\
+uint32 draw\n\
+\n\
+bool externalpower\n\
+\n\
+bool warning\n\
+\n\
+bool critical\n\
+\n\
+\n\
+";
+  }
+
+  static const char* value(const  ::power::query_powerResponse_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator> struct IsFixedSize< ::power::query_powerResponse_<ContainerAllocator> > : public TrueType {};
+} // namespace message_traits
+} // namespace ros
+
+namespace ros
+{
+namespace serialization
+{
+
+template<class ContainerAllocator> struct Serializer< ::power::query_powerRequest_<ContainerAllocator> >
+{
+  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+  {
+  }
+
+  ROS_DECLARE_ALLINONE_SERIALIZER;
+}; // struct query_powerRequest_
+} // namespace serialization
+} // namespace ros
+
+
+namespace ros
+{
+namespace serialization
+{
+
+template<class ContainerAllocator> struct Serializer< ::power::query_powerResponse_<ContainerAllocator> >
+{
+  template<typename Stream, typename T> inline static void allInOne(Stream& stream, T m)
+  {
+    stream.next(m.voltage);
+    stream.next(m.percentage);
+    stream.next(m.draw);
+    stream.next(m.externalpower);
+    stream.next(m.warning);
+    stream.next(m.critical);
+  }
+
+  ROS_DECLARE_ALLINONE_SERIALIZER;
+}; // struct query_powerResponse_
+} // namespace serialization
+} // namespace ros
+
+namespace ros
+{
+namespace service_traits
+{
+template<>
+struct MD5Sum<power::query_power> {
+  static const char* value() 
+  {
+    return "7f7505c0b2499fcf6c85ecc5dee6164e";
+  }
+
+  static const char* value(const power::query_power&) { return value(); } 
+};
+
+template<>
+struct DataType<power::query_power> {
+  static const char* value() 
+  {
+    return "power/query_power";
+  }
+
+  static const char* value(const power::query_power&) { return value(); } 
+};
+
+template<class ContainerAllocator>
+struct MD5Sum<power::query_powerRequest_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "7f7505c0b2499fcf6c85ecc5dee6164e";
+  }
+
+  static const char* value(const power::query_powerRequest_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator>
+struct DataType<power::query_powerRequest_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "power/query_power";
+  }
+
+  static const char* value(const power::query_powerRequest_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator>
+struct MD5Sum<power::query_powerResponse_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "7f7505c0b2499fcf6c85ecc5dee6164e";
+  }
+
+  static const char* value(const power::query_powerResponse_<ContainerAllocator> &) { return value(); } 
+};
+
+template<class ContainerAllocator>
+struct DataType<power::query_powerResponse_<ContainerAllocator> > {
+  static const char* value() 
+  {
+    return "power/query_power";
+  }
+
+  static const char* value(const power::query_powerResponse_<ContainerAllocator> &) { return value(); } 
+};
+
+} // namespace service_traits
+} // namespace ros
+
+#endif // POWER_SERVICE_QUERY_POWER_H
+
diff --git a/scout/power/srv_gen/generated b/scout/power/srv_gen/generated
new file mode 100644
index 0000000..396a0ba
--- /dev/null
+++ b/scout/power/srv_gen/generated
@@ -0,0 +1 @@
+yes
\ No newline at end of file
diff --git a/scout/power/srv_gen/lisp/_package.lisp b/scout/power/srv_gen/lisp/_package.lisp
new file mode 100644
index 0000000..563ada5
--- /dev/null
+++ b/scout/power/srv_gen/lisp/_package.lisp
@@ -0,0 +1,10 @@
+(cl:defpackage power-srv
+  (:use )
+  (:export
+   "QUERY_POWER"
+   "<QUERY_POWER-REQUEST>"
+   "QUERY_POWER-REQUEST"
+   "<QUERY_POWER-RESPONSE>"
+   "QUERY_POWER-RESPONSE"
+  ))
+
diff --git a/scout/power/srv_gen/lisp/_package_query_power.lisp b/scout/power/srv_gen/lisp/_package_query_power.lisp
new file mode 100644
index 0000000..aa66636
--- /dev/null
+++ b/scout/power/srv_gen/lisp/_package_query_power.lisp
@@ -0,0 +1,14 @@
+(cl:in-package power-srv)
+(cl:export '(VOLTAGE-VAL
+          VOLTAGE
+          PERCENTAGE-VAL
+          PERCENTAGE
+          DRAW-VAL
+          DRAW
+          EXTERNALPOWER-VAL
+          EXTERNALPOWER
+          WARNING-VAL
+          WARNING
+          CRITICAL-VAL
+          CRITICAL
+))
\ No newline at end of file
diff --git a/scout/power/srv_gen/lisp/power-srv.asd b/scout/power/srv_gen/lisp/power-srv.asd
new file mode 100644
index 0000000..5ca0d16
--- /dev/null
+++ b/scout/power/srv_gen/lisp/power-srv.asd
@@ -0,0 +1,9 @@
+
+(cl:in-package :asdf)
+
+(defsystem "power-srv"
+  :depends-on (:roslisp-msg-protocol :roslisp-utils )
+  :components ((:file "_package")
+    (:file "query_power" :depends-on ("_package_query_power"))
+    (:file "_package_query_power" :depends-on ("_package"))
+  ))
\ No newline at end of file
diff --git a/scout/power/srv_gen/lisp/query_power.lisp b/scout/power/srv_gen/lisp/query_power.lisp
new file mode 100644
index 0000000..67613e7
--- /dev/null
+++ b/scout/power/srv_gen/lisp/query_power.lisp
@@ -0,0 +1,204 @@
+; Auto-generated. Do not edit!
+
+
+(cl:in-package power-srv)
+
+
+;//! \htmlinclude query_power-request.msg.html
+
+(cl:defclass <query_power-request> (roslisp-msg-protocol:ros-message)
+  ()
+)
+
+(cl:defclass query_power-request (<query_power-request>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <query_power-request>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'query_power-request)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name power-srv:<query_power-request> is deprecated: use power-srv:query_power-request instead.")))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <query_power-request>) ostream)
+  "Serializes a message object of type '<query_power-request>"
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <query_power-request>) istream)
+  "Deserializes a message object of type '<query_power-request>"
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<query_power-request>)))
+  "Returns string type for a service object of type '<query_power-request>"
+  "power/query_powerRequest")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'query_power-request)))
+  "Returns string type for a service object of type 'query_power-request"
+  "power/query_powerRequest")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<query_power-request>)))
+  "Returns md5sum for a message object of type '<query_power-request>"
+  "7f7505c0b2499fcf6c85ecc5dee6164e")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'query_power-request)))
+  "Returns md5sum for a message object of type 'query_power-request"
+  "7f7505c0b2499fcf6c85ecc5dee6164e")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<query_power-request>)))
+  "Returns full string definition for message of type '<query_power-request>"
+  (cl:format cl:nil "~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'query_power-request)))
+  "Returns full string definition for message of type 'query_power-request"
+  (cl:format cl:nil "~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <query_power-request>))
+  (cl:+ 0
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <query_power-request>))
+  "Converts a ROS message object to a list"
+  (cl:list 'query_power-request
+))
+;//! \htmlinclude query_power-response.msg.html
+
+(cl:defclass <query_power-response> (roslisp-msg-protocol:ros-message)
+  ((voltage
+    :reader voltage
+    :initarg :voltage
+    :type cl:integer
+    :initform 0)
+   (percentage
+    :reader percentage
+    :initarg :percentage
+    :type cl:integer
+    :initform 0)
+   (draw
+    :reader draw
+    :initarg :draw
+    :type cl:integer
+    :initform 0)
+   (externalpower
+    :reader externalpower
+    :initarg :externalpower
+    :type cl:boolean
+    :initform cl:nil)
+   (warning
+    :reader warning
+    :initarg :warning
+    :type cl:boolean
+    :initform cl:nil)
+   (critical
+    :reader critical
+    :initarg :critical
+    :type cl:boolean
+    :initform cl:nil))
+)
+
+(cl:defclass query_power-response (<query_power-response>)
+  ())
+
+(cl:defmethod cl:initialize-instance :after ((m <query_power-response>) cl:&rest args)
+  (cl:declare (cl:ignorable args))
+  (cl:unless (cl:typep m 'query_power-response)
+    (roslisp-msg-protocol:msg-deprecation-warning "using old message class name power-srv:<query_power-response> is deprecated: use power-srv:query_power-response instead.")))
+
+(cl:ensure-generic-function 'voltage-val :lambda-list '(m))
+(cl:defmethod voltage-val ((m <query_power-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader power-srv:voltage-val is deprecated.  Use power-srv:voltage instead.")
+  (voltage m))
+
+(cl:ensure-generic-function 'percentage-val :lambda-list '(m))
+(cl:defmethod percentage-val ((m <query_power-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader power-srv:percentage-val is deprecated.  Use power-srv:percentage instead.")
+  (percentage m))
+
+(cl:ensure-generic-function 'draw-val :lambda-list '(m))
+(cl:defmethod draw-val ((m <query_power-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader power-srv:draw-val is deprecated.  Use power-srv:draw instead.")
+  (draw m))
+
+(cl:ensure-generic-function 'externalpower-val :lambda-list '(m))
+(cl:defmethod externalpower-val ((m <query_power-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader power-srv:externalpower-val is deprecated.  Use power-srv:externalpower instead.")
+  (externalpower m))
+
+(cl:ensure-generic-function 'warning-val :lambda-list '(m))
+(cl:defmethod warning-val ((m <query_power-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader power-srv:warning-val is deprecated.  Use power-srv:warning instead.")
+  (warning m))
+
+(cl:ensure-generic-function 'critical-val :lambda-list '(m))
+(cl:defmethod critical-val ((m <query_power-response>))
+  (roslisp-msg-protocol:msg-deprecation-warning "Using old-style slot reader power-srv:critical-val is deprecated.  Use power-srv:critical instead.")
+  (critical m))
+(cl:defmethod roslisp-msg-protocol:serialize ((msg <query_power-response>) ostream)
+  "Serializes a message object of type '<query_power-response>"
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'voltage)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'voltage)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'voltage)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'voltage)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'percentage)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'percentage)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'percentage)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'percentage)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'draw)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'draw)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'draw)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'draw)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'externalpower) 1 0)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'warning) 1 0)) ostream)
+  (cl:write-byte (cl:ldb (cl:byte 8 0) (cl:if (cl:slot-value msg 'critical) 1 0)) ostream)
+)
+(cl:defmethod roslisp-msg-protocol:deserialize ((msg <query_power-response>) istream)
+  "Deserializes a message object of type '<query_power-response>"
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'voltage)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'voltage)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'voltage)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'voltage)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'percentage)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'percentage)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'percentage)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'percentage)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 0) (cl:slot-value msg 'draw)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 8) (cl:slot-value msg 'draw)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 16) (cl:slot-value msg 'draw)) (cl:read-byte istream))
+    (cl:setf (cl:ldb (cl:byte 8 24) (cl:slot-value msg 'draw)) (cl:read-byte istream))
+    (cl:setf (cl:slot-value msg 'externalpower) (cl:not (cl:zerop (cl:read-byte istream))))
+    (cl:setf (cl:slot-value msg 'warning) (cl:not (cl:zerop (cl:read-byte istream))))
+    (cl:setf (cl:slot-value msg 'critical) (cl:not (cl:zerop (cl:read-byte istream))))
+  msg
+)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql '<query_power-response>)))
+  "Returns string type for a service object of type '<query_power-response>"
+  "power/query_powerResponse")
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'query_power-response)))
+  "Returns string type for a service object of type 'query_power-response"
+  "power/query_powerResponse")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql '<query_power-response>)))
+  "Returns md5sum for a message object of type '<query_power-response>"
+  "7f7505c0b2499fcf6c85ecc5dee6164e")
+(cl:defmethod roslisp-msg-protocol:md5sum ((type (cl:eql 'query_power-response)))
+  "Returns md5sum for a message object of type 'query_power-response"
+  "7f7505c0b2499fcf6c85ecc5dee6164e")
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql '<query_power-response>)))
+  "Returns full string definition for message of type '<query_power-response>"
+  (cl:format cl:nil "~%uint32 voltage~%~%uint32 percentage~%~%uint32 draw~%~%bool externalpower~%~%bool warning~%~%bool critical~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:message-definition ((type (cl:eql 'query_power-response)))
+  "Returns full string definition for message of type 'query_power-response"
+  (cl:format cl:nil "~%uint32 voltage~%~%uint32 percentage~%~%uint32 draw~%~%bool externalpower~%~%bool warning~%~%bool critical~%~%~%~%"))
+(cl:defmethod roslisp-msg-protocol:serialization-length ((msg <query_power-response>))
+  (cl:+ 0
+     4
+     4
+     4
+     1
+     1
+     1
+))
+(cl:defmethod roslisp-msg-protocol:ros-message-to-list ((msg <query_power-response>))
+  "Converts a ROS message object to a list"
+  (cl:list 'query_power-response
+    (cl:cons ':voltage (voltage msg))
+    (cl:cons ':percentage (percentage msg))
+    (cl:cons ':draw (draw msg))
+    (cl:cons ':externalpower (externalpower msg))
+    (cl:cons ':warning (warning msg))
+    (cl:cons ':critical (critical msg))
+))
+(cl:defmethod roslisp-msg-protocol:service-request-type ((msg (cl:eql 'query_power)))
+  'query_power-request)
+(cl:defmethod roslisp-msg-protocol:service-response-type ((msg (cl:eql 'query_power)))
+  'query_power-response)
+(cl:defmethod roslisp-msg-protocol:ros-datatype ((msg (cl:eql 'query_power)))
+  "Returns string type for a service object of type '<query_power>"
+  "power/query_power")
