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pr2_power_drivers: ocean_battery_driver | power_monitor | pr2_power_board

Package Summary

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.

pr2_power_drivers: ocean_battery_driver | power_monitor | pr2_power_board

Package Summary

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.

pr2_power_drivers: ocean_battery_driver | power_monitor | pr2_power_board

Package Summary

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.

pr2_power_drivers: ocean_battery_driver | power_monitor | pr2_power_board

Package Summary

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.

pr2_power_drivers: ocean_battery_driver | power_monitor | pr2_power_board

Package Summary

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.

pr2_power_drivers: ocean_battery_driver | power_monitor | pr2_power_board

Package Summary

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.

pr2_power_drivers: ocean_battery_driver | power_monitor | pr2_power_board

Package Summary

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: unmaintained
  • Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
  • Author: Tim Field, Curt Meyers
  • License: BSD
  • Source: git https://github.com/pr2/pr2_power_drivers.git (branch: kinetic-devel)
pr2_power_drivers: ocean_battery_driver | power_monitor | pr2_power_board

Package Summary

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: unmaintained
  • Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
  • Author: Tim Field, Curt Meyers
  • License: BSD
  • Source: git https://github.com/pr2/pr2_power_drivers.git (branch: kinetic-devel)
pr2_power_drivers: ocean_battery_driver | power_monitor | pr2_power_board

Package Summary

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: unmaintained
  • Maintainer: ROS Orphaned Package Maintainers <ros-orphaned-packages AT googlegroups DOT com>
  • Author: Tim Field, Curt Meyers
  • License: BSD
  • Source: git https://github.com/pr2/pr2_power_drivers.git (branch: kinetic-devel)

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.

Wiki: power_monitor (last edited 2011-01-21 09:16:10 by KevinWatts)