[hrpiob] Upgrade for hrpsys 315.4.0 onward.

hironx_ros_bridge/robot/hrpiob/iob.cpp

@@ -733,3 +733,33 @@ int read_digital_output(char *doutput)
 	else
 		return FALSE;
 }
+
+/**
+ * @brief Needed for hrpsys 315.4.0 onward (added at https://github.com/fkanehiro/hrpsys-base/pull/598).
+ *        TODO Implement if we want to utilize this.
+ */
+int number_of_thermometers(void)
+{
+    std::fprintf(stdout, "number_of_thermometers not implemented.\n");
+    return 0;
+}
+
+/**
+ * @brief Needed for hrpsys 315.4.0 onward (added at https://github.com/fkanehiro/hrpsys-base/pull/598).
+ *        TODO Implement if we want to utilize this.
+ */
+int number_of_batteries(void)
+{
+    std::fprintf(stdout, "number_of_batteries not implemented.\n");
+    return 0;
+}
+
+/**
+ * @brief Needed for hrpsys 315.4.0 onward (added at https://github.com/fkanehiro/hrpsys-base/pull/598).
+ *        TODO Implement if we want to utilize this.
+ */
+int read_battery(char *battery)
+{
+    std::fprintf(stdout, "read_battery not implemented.\n");
+    return 0;
+}

hironx_ros_bridge/robot/hrpiob/nextage-open.hpp

@@ -60,14 +60,17 @@ namespace NEXTAGE_OPEN
         virtual int wait_for_iob_signal(void) = 0;
         virtual long get_signal_period(void) = 0;
 
-
         virtual int initializeJointAngle(const char *name, const char *option) = 0;
         virtual int read_digital_input(char *dIn) = 0;
         virtual int length_digital_input(void) = 0;
         virtual int write_digital_output(const char *doutput) = 0;
         virtual int write_digital_output_with_mask(const char *doutput, const char *mask) = 0;
         virtual int length_digital_output(void) = 0;
         virtual int read_digital_output(char *doutput) = 0;
+
+        virtual int number_of_thermometers(void) = 0;
+        virtual int number_of_batteries(void) = 0;
+        virtual int read_battery(char *battery) = 0;
     };
 
 }