Overview
power_node2 controls with the PR2 power board. The API below is for informational purposes only; it is not intended for use by anything other than power_monitor, which is where you should look for power data.
The power_node2 runs on the PR2 and controls the PR2 power board. The node regulates the main fan speed of the PR2 based on battery and power board temperature.
Nodes
power_node2
Subscribed Topics
battery/server2 (pr2_msgs/BatteryServer2)- Battery data, for temperatures
Published Topics
/diagnostics (diagnostics_msgs/DiagnosticArray)- Diagnostic information
- Power board state
Services
~control2 (pr2_power_board/PowerBoardCommand2)- Send a command to the power board
- Send a command to the power board (DEPRECATED)
Parameters
~sample_frequency (float, default: 10.0)- Sampling frequency
- Transition frequency
power_node
Deprecated node for controller Rev. A and B power boards.Published Topics
/diagnostics (diagnostics_msgs/DiagnosticArray)- Diagnostic information
- Power board state
Services
~control (pr2_power_board/PowerBoardCommand)- Send a command to the power board
