Package Summary

Documented

The power_monitor collects messages from the ocean_battery_server and the pr2_power_board, and publishes a summary of their data in a friendlier message format.

Author: Tim Field, Curt Meyers
License: BSD
Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_power_drivers/trunk

pr2_power_drivers: ocean_battery_driver | power_monitor | pr2_power_board

Package Links

Dependencies (4)
Used by (1)

Package Summary

Documented

The power_monitor collects messages from the ocean_battery_server and the pr2_power_board, and publishes a summary of their data in a friendlier message format.

Author: Tim Field, Curt Meyers
License: BSD
Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_power_drivers/trunk

pr2_power_drivers: ocean_battery_driver | power_monitor | pr2_power_board

Package Links

Dependencies (4)
Used by (1)

Package Summary

Documented

The power_monitor collects messages from the ocean_battery_server and the pr2_power_board, and publishes a summary of their data in a friendlier message format.

Author: Tim Field, Curt Meyers
License: BSD
Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/pr2_power_drivers/trunk

pr2_power_drivers: ocean_battery_driver | power_monitor | pr2_power_board

Package Links

Dependencies (5)
Used by (2)

Package Summary

Released Documented

The power_monitor collects messages from the ocean_battery_server and the pr2_power_board, and publishes a summary of their data in a friendlier message format.

Maintainer status: maintained
Maintainer: Austin Hendrix <ahendrix AT willowgarage DOT com>
Author: Tim Field, Curt Meyers
License: BSD
Source: git https://github.com/PR2/pr2_power_drivers.git (branch: hydro-devel)

pr2_power_drivers: ocean_battery_driver | power_monitor | pr2_power_board

Package Summary

Released Continuous integration Documented

The power_monitor collects messages from the ocean_battery_server and the pr2_power_board, and publishes a summary of their data in a friendlier message format.

Maintainer status: maintained
Maintainer: Devon Ash <dash AT clearpathrobotics DOT com>
Author: Tim Field, Curt Meyers
License: BSD
Source: git https://github.com/pr2/pr2_power_drivers.git (branch: indigo-devel)

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Nodes

power_monitor

power_monitor takes data from ocean_battery_driver and pr2_power_board and republishes it in a more user-friendly message format.

The estimation method that power_monitor uses is reconfigurable via dynamic_reconfigure. Two methods are currently available:

Fuel Gauge: simply publishes the state of charge and remaining time that the battery servers report.
Advanced: records a history of battery state over the lifetime of the robot (in a CSV file in /var/ros/power_monitor/power.log) and uses this data to improve the indicators.

Subscribed topics

battery/server2 (pr2_msgs/BatteryServer2)

Battery data

power_board/power_state (pr2_msgs/PowerBoardState)

Power board state

Advertised topics

power_state (pr2_msgs/PowerState)

State of the power system

Parameters

~frequency (float, default: 0.1)

Frequency at which messages are published on power_state

~estimation_method (string, default: advanced)

State of charge estimation method to use

~advanced_log_file (string, default: /hwlog/power_monitor/power.log)

Location of file to record battery data

~battery_update_timeout (double, default: 120)

Stop publishing power estimate if batteries haven't updated within this timeout. Set to <0 to always publish estimate.