The m4atx_battery_monitor package will read the information from a m4atx battery supply and publish it as a ros message.
m4atx_battery_monitor_nodem4atx_battery_monitor_node will read in the information from the m4atx and publish the information.
Published Topicsbattery_status_m4atx ('m4atx_batter_monitor/PowerReading')
- publishes the Power information
Parameters~diag_frequency (double, default: 1.0)
- the frequency at which to poll the power supply
- the nominal voltage when the battery supply is fully charged
- the voltage at which the battery is considered dead (at a 0% charge)
A startup script is provided which will perform the following commands.
Locate the bus and device number of the device called "MicroChip Technology, Inc.".
sudo chmod a+rw /dev/bus/usb/<bus_num>/<device_num>
Where the bus_num and device_num were found above using lsusb.
To install the m4atx_battery_monitor package, you can choose to either install from source, or from the Ubuntu package:
To install from source, execute the following:
To install the Ubuntu package, execute the following:
sudo apt-get install ros-indigo-m4atx-battery-monitor
The ros_ethernet_rmp package contains a m4atx-battery-monitor.launch file. This file launches an instance of the m4atx_battery_monitor_node. To launch these nodes the following command can be used:
roslaunch m4atx_battery_monitor_node m4atx_battery_monitor_node.launch
Now the node will publish the information as well as use espeak to inform the user of a state of charge less than or equal to 20%.
Please send bug reports to the GitHub Issue Tracker. Feel free to contact me at any point with questions and comments.