husarion_ugv_battery

Nodes monitoring the battery state of Husarion Panhter robot

README

husarion_ugv_battery

The package containing nodes monitoring and publishing the internal battery state of the Husarion UGV.

Launch Files

This package contains:

  • battery.launch.py: Responsible for activating battery node, which dealing with reading and publishing battery data.

Configuration Files

ROS Nodes

battery_driver_node

Publishes battery state read from ADC unit.

Publishes

  • _battery/battery_1_status_raw [sensor_msgs/BatteryState]: First battery raw state.

  • _battery/battery_2_status_raw [sensor_msgs/BatteryState]: Second battery raw state. Published if second battery detected.

  • battery/battery_status [sensor_msgs/BatteryState]: Mean values of both batteries if robot has two batteries. Otherwise, the state of the single battery will be published.

  • battery/charging_status [husarion_ugv_msgs/ChargingStatus]: Battery charging status.

  • diagnostics [diagnostic_msgs/DiagnosticArray]: Battery diagnostic messages.

Subscribers

  • hardware/io_state [husarion_ugv_msgs/IOState]: Current state of IO.

  • hardware/robot_driver_state [husarion_ugv_msgs/RobotDriverState]: Current motor controllers’ state and error flags. Subscribed if using Roboteq motor controllers data.

Parameters

  • adc.device0 [string, default: /sys/bus/iio/devices/iio:device0]: ADC number 0 IIO device.

  • adc.device1 [string, default: /sys/bus/iio/devices/iio:device1]: ADC number 1 IIO device.

  • adc.ma_window_len.charge [int, default: 10]: Window length of a moving average, used to smooth out battery charge readings.

  • adc.ma_window_len.temp [int, default: 10]: Window length of a moving average, used to smooth out battery temperature readings.

  • battery_timeout [float, default: 1.0]: Specifies the timeout in seconds. If the node fails to read battery data exceeding this duration, the node will publish an unknown battery state.

  • ma_window_len.voltage [int, default: 10]: Window length of a moving average, used to smooth out battery voltage readings.

  • ma_window_len.current [int, default: 10]: Window length of a moving average, used to smooth out battery current readings.

  • roboteq.driver_state_timeout [float, default: 0.2]: Specifies timeout in seconds after which driver state messages will be considered old (deprecated).